Electric boom

ABSTRACT

A fully electric lift device includes a base assembly, a lift assembly, a platform assembly, tractive elements, an energy storage device, and a control system. The lift assembly is coupled with the base assembly and is driven by an electric linear actuator for a lifting function. The platform assembly is positioned at a top of the lift assembly and can be raised or lowered as the lift assembly performs the lifting function. The tractive elements are rotatably coupled with the base assembly and can be driven by an electric wheel motor to perform a driving function. The control system includes a controller that operates the electric wheel motor and the electric linear actuator to perform the driving function and the lifting function using power drawn from the energy storage device. The lift assembly and the tractive elements use only electrical energy to perform the lifting and driving functions.

CROSS-REFERENCE TO RELATED PATENT APPLICATIONS

This application claims the benefit of and priority to U.S. ProvisionalPatent Application No. 62/829,919, filed Apr. 5, 2019, U.S. ProvisionalPatent Application No. 62/829,972, filed Apr. 5, 2019, U.S. ProvisionalPatent Application No. 62/829,960, filed Apr. 5, 2019, U.S. ProvisionalPatent Application No. 62/830,128, filed Apr. 5, 2019, and U.S.Provisional Patent Application No. 62/829,976, filed Apr. 5, 2019, theentire disclosures of which are incorporated by reference herein.

BACKGROUND

The present disclosure relates to boom lifting devices. Moreparticularly, the present disclosure relates to electrical systems usedin boom lifting devices.

SUMMARY

One implementation of the present disclosure is a fully electric boomlift, according to an exemplary embodiment. The fully electric boom liftincludes a base assembly, a lift assembly, a platform assembly, multipletractive elements, and a control system. The base assembly includes abase and a fully electric turntable configured to be driven to rotaterelative to the base by an electric turntable motor. The lift assemblyis coupled with the turntable. The lift assembly includes multiplearticulated arms configured to be driven to increase and decrease inheight by multiple electric linear actuators. The platform assembly isdisposed at a top of the lift assembly and is configured to be raisedand lowered as the lift assembly increases or decreases in height. Themultiple tractive elements are rotatably coupled with the base assemblyand configured to be driven by an electric wheel motor. The controlsystem includes a controller and an energy storage device, wherein thecontroller is configured to operate the electric turntable motor, theplurality of electric linear actuators, and the electric wheel motor,the electric turntable motor, the plurality of electric linearactuators, and the electric wheel motor configured to consume electricalpower from the energy storage device.

The fully electric boom lift can further include a steering system. Thesteering system is configured to drive the multiple tractive elements topivot to indicate a turn of the fully electric boom.

The steering system may include a linear electric steering actuator, anda steering knuckle. The linear electric steering actuator is pivotallycoupled to the base at a first end, and fixedly coupled with an arcuatesteering member at a second end. The steering knuckle is rotatablycoupled with one of the multiple tractive elements and pivotally coupledwith the base. The arcuate steering member is pivotally coupled with thesteering knuckle and is configured to drive the steering knuckle topivot as the linear electric steering actuator extends and retracts. Thearcuate steering member is shaped to provide clearance for a portion ofthe base as the linear electric steering actuator extends and retracts.

The controller can be configured to operate the electric wheel motorsand the linear electric steering actuator to drive and steer the fullyelectric boom lift for transportation of the fully electric boom lift.

The fully electric turntable may include a ring gear, a reduction gearbox, and an electric brake. The ring gear is rotatably coupled with thebase through a slewing bearing. The ring gear is fixedly coupled withthe lift assembly. The reduction gear box is configured to receiveoutput rotational kinetic energy from the electric turntable motor andoutput rotational kinetic energy at an output torque to the ring gear torotate the ring gear and the lift assembly relative to the base. Theoutput torque is greater than the motor torque. The electric brake isconfigured to limit rotation of the ring gear when activated in responseto receiving a control signal from the controller.

The fully electric boom lift may also include a platform rotatorconfigured to pivot the platform assembly relative to the lift assembly.The platform rotator includes a barrel, a structural support member, anelectric platform rotator motor, and an electric brake. The barrel isfixedly coupled with the platform assembly. The structural supportmember is fixedly coupled with the lift assembly and rotatably coupledwith the barrel. The electric platform rotator motor is configured todrive a gear box using electrical energy provided by the energy storagedevice. The electric brake is configured to activate to prevent relativerotation between the barrel and the structural support member. Theelectric brake is configured to receive electrical energy from theenergy storage device and control signals from the controller andactivate in response to receiving the control signals from thecontroller. The gear box is configured to receive a rotational inputfrom the motor and provide a rotational output to rotate the barrel andthe platform assembly relative to the structural support member thatfixedly couples with the lift assembly.

The lift assembly can include multiple lower members, multiple uppermembers, a jib arm, and an electric linear actuator. The multiple lowermembers pivotally couple at their first ends with the fully electricturntable and pivotally couple at their opposite ends with a firstupright member. The multiple upper members pivotally couple at theirfirst ends with the first upright member, and pivotally couple at theiropposite ends with a second upright member. The jib arm is pivotallycoupled at a first end with the second upright member and coupled at anopposite end with the platform assembly. The electric linear actuator ispivotally coupled at a first end with one of the lower members andpivotally coupled through a trunnion mount with one of the uppermembers. The electric linear actuator is configured to extend or retractto drive the one or more upper members to pivot relative to the firstupright member. The electric linear actuator is configured to receivepower from the energy storage device and control signals from thecontroller to operate to extend or retract to raise or lower the liftassembly.

The trunnion mount can include a collar, and a pair of protrusions. Thecollar is configured to clamp with an outer periphery of the electriclinear actuator. The pair of protrusions extend outwards from oppositesides of the collar and pivotally couple with the upper members.

The base assembly further includes a laterally extending frame member,and multiple lockout electric linear actuators. The laterally extendingframe member is pivotally coupled with the base. The base is configuredto rotate about a longitudinal axis relative to the laterally extendingframe member. The multiple lockout electric linear actuators are coupledto at least one of the laterally extending frame member or the base andconfigured to consume electrical energy supplied by the energy storagedevice to extend and retract. In a first mode of operation, thecontroller is configured to control the lockout electric linearactuators to permit rotation of the base relative to the laterallyextending frame member through a first range of motion. In a second modeof operation, the controller is configured to control the lockoutelectric linear actuators to limit rotation of the base relative to thelaterally extending frame member to a second range of motion smallerthan the first range of motion. The lockout electric linear actuatorincludes a body slidably coupled to a rod and an electric lockout motorthat controls movement of the rod relative to the body. In the secondmode of operation, the controller is configured to control the electriclockout motor to extend the electric linear actuator until the lockoutelectric linear actuator engages the laterally extending frame member.

The electric linear actuator includes a motor controller configured tomonitor a flow of electrical energy supplied to the electric motor. Thecontroller is configured to determine that the electric linear actuatorhas engaged the laterally extending frame member when a current suppliedto the electric motor exceeds a threshold current.

Another implementation of the present disclosure is a fully electriclift device, according to an exemplary embodiment. The fully electriclift device includes a base assembly, a lift assembly, a platformassembly, multiple tractive elements, an energy storage device, and acontrol system. The lift assembly is coupled with the base assembly andconfigured to be driven by an electric linear actuator to perform alifting function. The platform assembly is positioned at a top of thelift assembly and is configured to be raised or lowered as the liftassembly performs the lifting function. The multiple tractive elementsare rotatably coupled with the base assembly and configured to be drivenby an electric wheel motor to perform a driving function. The controlsystem includes a controller configured to operate the electric wheelmotor and the electric linear actuator to perform the driving functionand the lifting function using power drawn from the energy storagedevice. The lift assembly and the multiple tractive elements use onlyelectrical energy as a power source to perform the lifting function andthe driving function.

The fully electric lift device can be a fully electric telehandler or afully electric boom lift.

The fully electric lift device can further include a steering system.The steering system is configured to drive the multiple tractiveelements to pivot to indicate a turn of the fully electric lift device.The steering system includes a linear electric steering actuator, and asteering knuckle. The linear electric steering actuator is pivotallycoupled to the base at a first end, and fixedly coupled with an arcuatesteering member at a second end. The steering knuckle is rotatablycoupled with one of the multiple tractive elements and pivotally coupledwith the base. The arcuate steering member is pivotally coupled with thesteering knuckle and is configured to drive the steering knuckle topivot as the linear electric steering actuator extends and retracts. Thearcuate steering member is shaped to provide clearance for a portion ofthe base as the linear electric steering actuator extends and retracts.

The base assembly may include a base and a fully electric turntableconfigured to be driven to rotate relative to the base by an electricturntable motor. The fully electric turntable can include a ring gear, areduction gear box, and an electric brake. The ring gear is rotatablycoupled with the base through a slewing bearing. The ring gear fixedlycoupled with the lift assembly. The reduction gear box is configured toreceive output rotational kinetic energy from the electric turntablemotor and output rotational kinetic energy at an output torque to thering gear to rotate the ring gear and the lift assembly relative to thebase. The output torque is greater than the motor torque. The electricbrake is configured to limit rotation of the ring gear when activated inresponse to receiving a control signal.

The fully electric lift device may further include a platform rotatorconfigured to pivot the platform assembly relative to the lift assembly.The platform rotator includes a barrel, a structural support member, anelectric platform rotator motor, and an electric motor. The barrel isfixedly coupled with the platform assembly. The structural supportmember is fixedly coupled with the lift assembly and rotatably coupledwith the barrel. The electric platform rotator motor is configured todrive a gear box using electrical energy provided by the energy storagedevice. The electric brake is configured to activate to prevent relativerotation between the barrel and the structural support member. Theelectric brake is configured to receive electrical energy from theenergy storage device and control signals from the controller andactivate in response to receiving the control signals from thecontroller. The gear box is configured to receive a rotational inputfrom the motor and provide a rotational output to rotate the barrel andthe platform assembly relative to the structural support member thatfixedly couples with the lift assembly.

The base assembly can further include a laterally extending framemember, and multiple lockout electric linear actuators. The laterallyextending frame member is pivotally coupled with the base. The base isconfigured to rotate about a longitudinal axis relative to the laterallyextending frame member. The multiple lockout electric linear actuatorsare coupled with at least one of the laterally extending frame member orthe base and are configured to consume electrical energy supplied by theenergy storage device to extend and retract. In a first mode ofoperation, the controller is configured to control the lockout electriclinear actuators to permit rotation of the base relative to thelaterally extending frame member through a first range of motion. In asecond mode of operation, the controller is configured to control thelockout electric linear actuators to limit rotation of the base relativeto the laterally extending frame member to a second range of motionsmaller than the first range of motion. The lockout electric linearactuator includes a body slidably coupled to a rod and an electriclockout motor that controls movement of the rod relative to the body. Inthe second mode of operation, the controller is configured to controlthe electric lockout motor to extend the electric linear actuator untilthe lockout electric linear actuator engages the laterally extendingframe member.

Another implementation of the present disclosure is a fully electriclift device, according to an exemplary embodiment. The fully electriclift device includes a base, a lift apparatus, an energy storage device,and a controller. The lift apparatus is coupled with the base assemblyand includes multiple lower members, multiple upper members, and anelectric linear actuator. The multiple lower members are pivotallycoupled at their first ends with the base and pivotally coupled at theiropposite ends with a first upright member. The multiple upper membersare pivotally coupled at their first ends with the first upright memberand at their opposite ends with a second upright member. The electriclinear actuator is configured to extend or retract to raise or lower thelift apparatus. The energy storage device is configured to provideelectrical energy to the electric linear actuator. The controller isconfigured to operate the electric linear actuator to raise or lower thelift apparatus.

The multiple lower members, the base, and the first upright member forma first four-bar linkage. The multiple upper members, the first uprightmember, and the second upright member form a second four-bar linkage.The first upright member and the second upright member maintain aparticular orientation as the lift apparatus is raise or lowered.

The electric linear actuator is pivotally coupled at a lower end withone of the lower members and pivotally coupled with one of the uppermembers through a trunnion mount.

The trunnion mount can include a collar, and a pair of protrusions. Thecollar is configured to clamp with an outer periphery of the electriclinear actuator. The pair of protrusions extend outwards from oppositesides of the collar and pivotally couple with the upper members.

The invention is capable of other embodiments and of being carried outin various ways. Alternative exemplary embodiments relate to otherfeatures and combinations of features as may be recited herein.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosure will become more fully understood from the followingdetailed description, taken in conjunction with the accompanyingfigures, wherein like reference numerals refer to like elements, inwhich:

FIG. 1 is a perspective view of a fully electric boom, according to anexemplary embodiment.

FIG. 2 is a perspective view of a portion of a base assembly of thefully electric boom of FIG. 1, according to an exemplary embodiment.

FIG. 3 is a perspective view of a portion of a base assembly of thefully electric boom of FIG. 1, according to an exemplary embodiment.

FIG. 4 is a perspective view of a steering system of the fully electricboom of FIG. 1, according to an exemplary embodiment.

FIG. 5 is a perspective view of the steering system of the fullyelectric boom of FIG. 1, according to an exemplary embodiment.

FIG. 6 is a perspective view of the steering system of the fullyelectric boom of FIG. 1, according to an exemplary embodiment.

FIG. 7 is a perspective view of a portion of the steering system of thefully electric boom of FIG. 1, according to an exemplary embodiment.

FIG. 8 is a perspective view of a portion of the steering system of thefully electric boom of FIG. 1, according to an exemplary embodiment.

FIG. 9 is a perspective view of a portion of the steering system of thefully electric boom of FIG. 1, according to an exemplary embodiment.

FIG. 10 is a perspective view of a portion of the steering system of thefully electric boom of FIG. 1, according to an exemplary embodiment.

FIG. 11 is a top view of the steering system of the fully electric boomof FIG. 1, according to an exemplary embodiment.

FIG. 12 is a front view of the steering system of the fully electricboom of FIG. 1, according to an exemplary embodiment.

FIG. 13 is a perspective view of a turntable of the fully electric boomof FIG. 1 including an electric turntable motor, a gear box, atransmission, and a ring gear, according to an exemplary embodiment.

FIG. 14 is a side view of a gear interface between an output shaft ofthe gear box and the ring gear of the turntable of FIG. 14, according toan exemplary embodiment.

FIG. 15 is a side view of a gear interface between an output shaft ofthe gear box and the ring gear of the turntable of FIG. 14, according toan exemplary embodiment.

FIG. 16 is a side view of a gear interface between an output shaft ofthe gear box and the ring gear of the turntable of FIG. 14, according toan exemplary embodiment.

FIG. 17 is a perspective view of a lift assembly of the fully electricboom of FIG. 1, according to an exemplary embodiment.

FIG. 18 is a perspective view of a platform rotator of the fullyelectric boom of FIG. 1, according to an exemplary embodiment.

FIG. 19 is a perspective view of the platform rotator of FIG. 18.

FIG. 20 is a perspective view of the platform rotator of FIG. 18.

FIG. 21 is a side view of the platform rotator of FIG. 18.

FIG. 22 is a top view of the platform rotator of FIG. 18.

FIG. 23 is a top view of the platform rotator of FIG. 18.

FIG. 24 is a diagram of a side view of a boom arm of the fully electricboom of FIG. 1, according to an exemplary embodiment.

FIG. 25 is a perspective view of the boom arm of the fully electric boomof FIG. 1, according to an exemplary embodiment.

FIG. 26 is a perspective view of a portion of the boom arm of the fullyelectric boom of FIG. 1, according to an exemplary embodiment.

FIG. 27 is a perspective view of a portion of the boom arm of the fullyelectric boom of FIG. 1, according to an exemplary embodiment.

FIG. 28 is a perspective view of a trunnion mount of an electric linearactuator of the boom arm of FIG. 24, according to an exemplaryembodiment.

FIG. 29 is a perspective view of a trunnion mount of an electric linearactuator of the boom arm of FIG. 24, according to an exemplaryembodiment.

FIG. 30 is a sectional view of the trunnion mount of the electric linearactuator of FIGS. 26-29, according to an exemplary embodiment.

FIG. 31 is a perspective view of the trunnion mount of FIG. 29.

FIG. 32 is a perspective view of a jib arm of the fully electric boom ofFIG. 1, according to an exemplary embodiment.

FIG. 33 is a perspective view of the electric linear actuator of FIGS.28-29 and 31, according to an exemplary embodiment.

FIG. 34 is a perspective view of the electric linear actuator of FIGS.28-29 and 31, according to an exemplary embodiment.

FIG. 35 is a perspective view of an electric linear actuator that drivesthe jib arm of FIG. 32, according to an exemplary embodiment.

FIG. 36 is a perspective view of the electric linear actuator of FIGS.28-29.

FIG. 37 is a perspective view of an axle actuator of the fully electricboom of FIG. 1, according to an exemplary embodiment.

FIG. 38 is a front view of the base assembly of FIG. 2, according to anexemplary embodiment.

FIG. 39 is a front view of the base assembly of FIG. 2, according to anexemplary embodiment.

FIG. 40 is a front view of the base assembly of FIG. 2, according to anexemplary embodiment.

FIG. 41 is a front view of an axle actuator of a fully electric boom,according to an exemplary embodiment.

FIG. 42 is a front view of an axle actuator of a fully electric boom,according to an exemplary embodiment.

FIG. 43 is a front view of a base assembly of a fully electric boomincluding an axle lock out assembly, according to an exemplaryembodiment.

FIG. 44 is a front view of a base assembly of a fully electric boomincluding an axle lock out assembly, according to an exemplaryembodiment.

FIG. 45 is a front view of a base assembly of a fully electric boomincluding an axle lock out assembly, according to an exemplaryembodiment.

FIG. 46 is a block diagram of a control system for operating a fullyelectric boom, according to an exemplary embodiment.

DETAILED DESCRIPTION

Before turning to the figures, which illustrate the exemplaryembodiments in detail, it should be understood that the presentapplication is not limited to the details or methodology set forth inthe description or illustrated in the figures. It should also beunderstood that the terminology is for the purpose of description onlyand should not be regarded as limiting.

Overview

Referring generally to the FIGURES, a fully electric boom is shown,according to various exemplary embodiments. The fully electric boomincludes a platform assembly, a lift assembly, and a base assembly. Thebase assembly supports the lift assembly and the platform assembly. Theplatform assembly is positioned at a top end of the lift assembly. Thelift assembly can include one or more articulated arms that are hingedlycoupled with each other. The one or more articulated arms are configuredto be driven to pivot by electric linear actuators. As the articulatedarms pivot, the lift assembly increases or decreases in height, therebyraising and lowering the platform assembly.

The base assembly include a turn table and a base. The turn table isrotatably coupled with the base. The lift assembly is rotatably coupledwith the turn table. The turn table is driven to rotate relative to thebase assembly by an electric turn table motor. The base assembly alsoincludes one or more tractive elements. The tractive elements eachinclude an electric motor configured to drive the corresponding tractiveelement. The tractive elements can be independently driven by thecorresponding electric motor. The base assembly includes a steeringsystem. The steering system includes an electric linear actuator thatextends and retracts. An end of a rod of the electric linear actuator isfixedly coupled with an end of one or more arcuate/curved steeringmembers. The one or more arcuate/curved steering members are pivotallycoupled with a steering knuckle of the tractive element. An end of thehousing of the electric linear actuator is pivotally/rotatably coupledwith the base. The electric linear actuator can be extended or retractedto pivot the corresponding tractive element for a turn.

The electric turntable motor is rotatably coupled with a gear box. Thegear box receives rotational kinetic energy from the electric turntablemotor and outputs rotational kinetic energy with a higher torque.Depending on the orientation/configuration of the electric turntablemotor and the gear box, a transmission can be used to transfer therotational kinetic energy into an axis that is substantially parallel toan axis that a ring gear of the turntable rotates about (e.g., usingbevel gears). In other embodiments, the transmission or the gear boxincludes a worm and the ring gear is a worm gear.

The fully electric boom can include energy storage devices (e.g.,batteries). Any of the motors, electric linear actuators, etc., of thefully electric boom can receive electrical power from the energy storagedevices. A controller is configured to receive user inputs from one ormore human machine interfaces and operate any of the motors, electriclinear actuators, etc., of the fully electric boom. The controller maygenerate control signals for any of the electric motors, electric linearactuators, etc. The controller can also monitor feedback (e.g., voltagefeedback, current feedback, etc.) from any of the electric linearactuators, electric motors, etc.

The fully electric boom can include a boom arm and a jib arm. The boomarm is configured to lower and raise by one or more electric linearactuators. The jib arm is coupled to an end of the boom arm and isconfigured to rotate and pivot the platform assembly. The jib armincludes a platform rotator that pivotally couples the platform assemblywith the jib arm.

The platform rotator pivotally couples the platform assembly with thejib arm. The platform rotator can include a barrel formed by twoportions that couple with the platform assembly. The barrel can fixedlycouple with one or more structural support members that protrudeoutwards from the platform assembly.

The barrel is supported on either side (e.g., an upper side and a lowerside) by structural support members that extend from the end of the jibarm. The barrel can slidably interface with the structural supportmembers. The barrel and the structural support members are configured torotatably or pivotally couple with each other.

The platform rotator includes an electric motor, a brake, and one ormore gear boxes. The electric motor is configured to drive the one ormore gear boxes to pivot the barrel relative to the structural supportmembers that support the barrel. The one or more gear boxes can bereduction gear boxes that increase the output torque provided to thebarrel. The brake can be an electric brake that transitions between anactivated state and a deactivated state. When in the activated state,the brake facilitates restricting relative rotation between the barreland the structural support members that support the barrel.

The electric motor and the brake of the platform rotator can receiveelectrical energy from the batteries of the electric boom. The electricmotor and the brake can be operated by a controller in response to thecontroller receiving a user input from a human machine interface. Thecontroller can operate the electric motor to pivot/rotate the platformassembly in either direction. The controller may transition the brakeinto the activated state to facilitate locking a current angularposition of the platform assembly.

The fully electric boom can include a boom arm and a jib arm. The boomarm can include lower members, upper members, and two upright members.The lower members are pivotally coupled with the turntable at a lowerend. The lower members are pivotally coupled at an upper end with afirst one of the upright members. The upper members are pivotallycoupled at a lower end with the first upright member, and pivotallycoupled with the second upright member at the upper end. The jib arm ispivotally coupled with the second upright member. The lower members canpivot about the lower end to raise and lower the first upright member.The upper members can pivot about their lower ends to raise and lowerthe second upright member and the jib arm.

An electric linear actuator is pivotally coupled at a lower end with oneof the lower members. The electric linear actuator is mounted with atrunnion mount to one of the upper members at an upper end. The trunnionmount includes a collar that surrounds a cylinder of the electric linearactuator. The collar can be a single-piece clamping collar or atwo-piece clamping collar. The collar includes protrusions that extendradially outwards and pivotally couple with apertures of one of theupper members. The trunnion mount facilitates using an electric linearactuator with a longer overall stroke length. The electric linearactuator can be operated to pivot the upper members about their bottomends, and thereby raise/lower the second upright member.

Another electric linear actuator can be pivotally coupled at a lower endwith the turntable and pivotally coupled with one of the lower memberswith a trunnion mount. The electric linear actuator can be operated toextend and retract to pivot the lower members about their lower ends.

The electric boom further includes an axle lock out system configured toselectively limit rotation of the axle assemblies relative to thechassis. The axle assemblies are configured to rotate relative to thechassis about a longitudinal axis. A pair of electric linear actuators(i.e., axle actuators) are coupled to the chassis on opposites sides ofthe longitudinal axis. The electric linear actuators extend downwardfrom the chassis to engage the corresponding axle assembly. During adriving mode of operation, the axle actuators permit free rotation ofthe axle assembly. In some embodiments, during the driving mode, theaxle actuators are held in a retracted configuration to permit the axleto rotate through a first range of motion without contacting the axleactuators. In other embodiments, during the driving mode, the axleactuators engage the axle assemblies, but are configured to extend andretract freely (e.g., with minimal resistance) such that the axleassembly can rotate through the first range of motion.

During an operating mode, the axle actuators limit rotation of the axleassemblies to a second range of motion smaller than the first range ofmotion. In embodiments where the axle actuators are held in theretracted position during the driving mode, the axle actuators areextended until they engage the axle assembly. A controller may determinethat the axle actuators have engaged the axle assembly in response tothe current supplied to each actuator reaching a threshold current. Oncethe axle actuators have engaged the axle assembly, the axle actuatorsmay lock to a fixed length. In embodiments where the axle actuatorsextend and retract freely during the driving mode, the axle actuatorsmay lock to a fixed length in response to entering the operating mode.

Advantageously, the fully electric boom does not use any hydraulicsystems, hydraulic pumps, engines, internal combustion engines, etc. toperform the respective functions of the various motors and actuators.All of the motors and actuators are fully electric. Other systems useelectric motors to rotate pumps of various hydraulic systems. The fullyelectric boom facilitates a quieter, more environmentally friendly, moreefficient lift device.

Electric Boom

Referring to FIG. 1, an electric lifting apparatus, an electrictelehandler, an electric boom lift, a towable electric boom lift, a liftdevice, a fully electric boom lift, etc., shown as electric boom 10includes a base assembly 12 (e.g., a support assembly, a drivablesupport assembly, a support structure, etc.), a platform assembly 16(e.g., a platform, a terrace, etc.), and a lift assembly 14 (e.g., aboom lift assembly, a lifting apparatus, an articulated arm, a scissorslift, etc.). If electric boom 10 is a telehandler, platform assembly 16can be replaced with a fork apparatus, a bucket apparatus, a materiallifting apparatus, a mechanical lifting apparatus attachment, etc.Electric boom 10 includes a front end (e.g., a forward facing end, afront portion, a front, etc.), shown as front 62, and a rear end (e.g.,a rearward facing end, a back portion, a back, a rear, etc.) shown asrear 60. Lift assembly 14 is configured to elevate platform assembly 16in an upwards direction 46 relative to base assembly 12. Lift assembly14 is also configured to translate platform assembly 16 in a downwardsdirection 48. Lift assembly 14 is also configured to translate platformassembly 16 in either a forwards direction 50 or a rearwards direction51. Lift assembly 14 generally facilitates performing a lifting functionto raise and lower platform assembly 16, as well as movement of platformassembly 16 in various directions.

Base assembly 12 defines a longitudinal axis 78 and a lateral axis 80.Longitudinal axis 78 defines forwards direction 50 of electric boom 10and rearwards direction 51. Electric boom 10 is configured to translatein forwards direction 50 and to translate backwards in rearwardsdirection 51. Base assembly 12 includes one or more wheels, tires, wheelassemblies, tractive elements, rotary elements, treads, etc., shown astractive elements 82. Tractive elements 82 are configured to rotate todrive (e.g., translate, steer, move, etc.) electric boom 10. Tractiveelements 82 can each include an electric motor 52 (e.g., electric wheelmotors) configured to drive tractive elements 82 (e.g., to rotatetractive elements 82 to facilitation motion of electric boom 10). Inother embodiments, tractive elements 82 are configured to receive power(e.g., rotational mechanical energy) from electric motors 52 through adrive train (e.g., a combination of any number and configuration of ashaft, an axle, a gear reduction, a gear train, etc.). Tractive elements82 and electric motors 52 can facilitate a driving and/or steeringfunction of electric boom 10.

Platform assembly 16 is configured to provide a work area for anoperator of electric boom 10 to stand/rest upon. Platform assembly 16can be pivotally coupled to an upper end of lift assembly 14. Electricboom 10 is configured to facilitate the operator accessing variouselevated areas (e.g., lights, platforms, the sides of buildings,building scaffolding, trees, power lines, etc.). Electric boom 10 usesvarious electrically powered motors and electrically powered linearactuators to facilitate elevation of platform assembly 16 (e.g.,relative to base assembly 12, or to a ground surface that base assembly12 rests upon).

Platform assembly 16 includes a base member, a base portion, a platform,a standing surface, a shelf, a work platform, a floor, a deck, etc.,shown as deck 18. Deck 18 provides a space (e.g., a floor surface) for aworker to stand upon as platform assembly 16 is raised and lowered.

Platform assembly 16 includes various members, beams, bars, guard rails,rails, railings, etc., shown as rails 22. Rails 22 extend alongsubstantially an entire perimeter of deck 18. Rails 22 provide one ormore members for the operator of electric boom 10 to grasp while usingelectric boom 10 (e.g., to grasp while operating electric boom 10 toelevate platform assembly 16). Rails 22 can include members that aresubstantially horizontal to deck 18. Rails 22 can also include verticalstructural members that couple with the substantially horizontalmembers. The vertical structural members can extend upwards from deck18.

Platform assembly 16 can include a human machine interface (HMI) (e.g.,a user interface), shown as HMI 20. HMI 20 is configured to receive userinputs from the operator at platform assembly 16 to facilitate operationof electric boom 10. HMI 20 can include any number of buttons, levers,switches, keys, etc., or any other user input device configured toreceive a user input to operate electric boom 10. HMI 20 can besupported by one or more of rails 22.

Platform assembly 16 includes a frame 24 (e.g., structural members,support beams, a body, a structure, etc.) that extends at leastpartially below deck 18. Frame 24 can be integrally formed with deck 18.Frame 24 is configured to provide structural support for deck 18 ofplatform assembly 16. Frame 24 can include any number of structuralmembers (e.g., beams, bars, I-beams, etc.) to support deck 18. Frame 24couples platform assembly 16 with lift assembly 14. Frame 24 mayrotatably or pivotally coupled with lift assembly 14 to facilitaterotation of platform assembly 16 about an axis 28 (e.g., a centerline).Frame 24 can also rotatably/pivotally couple with lift assembly 14 suchthat frame 24 and platform assembly 16 can pivot about an axis 25 (e.g.,a centerline).

Lift assembly 14 includes one or more beams, articulated arms, bars,booms, arms, support members, boom sections, cantilever beams, etc.,shown as lift arms 32. Lift arms 32 are hingedly or rotatably coupledwith each other at their ends. Lift arms 32 can be hingedly or rotatablycoupled to facilitate articulation of lift assembly 14 andraising/lowering of platform assembly 16. Electric boom 10 includes alower lift arm 32 a, a central or medial lift arm 32 b, and an upperlift arm 32 c. Lower lift arm 32 a is configured to hingedly orrotatably couple at one end with base assembly 12 to facilitate lifting(e.g., elevation) of platform assembly 16. Lower lift arm 32 a isconfigured to hingedly or rotatably couple at an opposite end withmedial lift arm 32 b. Likewise, medial lift arm 32 b is configured tohingedly or rotatably couple with upper lift arm 32 c. Upper lift arm 32c can be configured to hingedly interface/couple and/or telescope withan intermediate lift arm 32 d. Upper lift arm 32 c can be referred to as“the jib” of electric boom 10. Intermediate lift arm 32 d may extendinto an inner volume of upper lift arm 32 c and extend/retract. Lowerlift arm 32 a and medial lift arm 32 b may be referred to as “the boom”of electric boom 10. Intermediate lift arm 32 d can be configured tocouple (e.g., rotatably, hingedly, etc.), with platform assembly 16 tofacilitate levelling of platform assembly 16.

Lift arms 32 are driven to hinge or rotate relative to each other byelectric actuators 34 (e.g., electric linear actuators, linear electricarm actuators, etc.). Electric actuators 34 can be mounted betweenadjacent lift arms 32 to drive adjacent lift arms 32 to hinge or pivot(e.g., rotate some angular amount) relative to each other about pivotpoints 84. Electric actuators 34 can be mounted between adjacent liftarms 32 using any of a foot bracket, a flange bracket, a clevis bracket,a trunnion bracket, etc. Electric actuators 34 are configured to extendor retract (e.g., increase in overall length, or decrease in overalllength) to facilitate pivoting adjacent lift arms 32 to pivot/hingerelative to each other, thereby articulating lift arms 32 and raising orlowering platform assembly 16.

Electric actuators 34 can be configured to extend (e.g., increase inlength) to increase a value of angle 74 formed between adjacent liftarms 32. Angle 74 can be defined between centerlines of adjacent liftarms 32 (e.g., centerlines that extend substantially through a center oflift arms 32). For example, electric actuator 34 a is configured toextend/retract to increase/decrease angle 74 a defined between acenterline of lower lift arm 32 a and longitudinal axis 78 (angle 74 acan also be defined between the centerline of lower lift arm 32 a and aplane defined by longitudinal axis 78 and lateral axis 80) andfacilitate lifting of platform assembly 16 (e.g., moving platformassembly 16 at least partially along upwards direction 46). Likewise,electric actuator 34 b can be configured to retract to decrease angle 74a to facilitate lowering of platform assembly 16 (e.g., moving platformassembly 16 at least partially along downwards direction 48). Similarly,electric actuator 34 b is configured to extend to increase angle 74 bdefined between centerlines of lower lift arm 32 a and medial lift arm32 b and facilitate elevating of platform assembly 16. Similarly,electric actuator 34 b is configured to retract to decrease angle 74 bto facilitate lowering of platform assembly 16. Electric actuator 34 cis similarly configured to extend/retract to increase/decrease angle 74c, respectively, to raise/lower platform assembly 16.

Electric actuators 34 can be mounted (e.g., rotatably coupled, pivotallycoupled, etc.) to adjacent lift arms 32 at mounts 40 (e.g., mountingmembers, mounting portions, attachment members, attachment portions,etc.). Mounts 40 can be positioned at any position along a length ofeach lift arm 32. For example, mounts 40 can be positioned at a midpointof each lift arm 32, and a lower end of each lift arm 32.

Intermediate lift arm 32 d and frame 24 are configured to pivotallyinterface/couple at a platform rotator 30 (e.g., a rotary actuator, arotational electric actuator, a gear box, etc.). Platform rotator 30facilitates rotation of platform assembly 16 about axis 28 relative tointermediate lift arm 32 d. In some embodiments, platform rotator 30 isbetween frame 24 and upper lift arm 32 c and facilitates pivoting ofplatform assembly 16 relative to upper lift arm 32 c. Axis 28 extendsthrough a central pivot point of platform rotator 30. Intermediate liftarm 32 d is also configured to extend/retract along upper lift arm 32 c.Intermediate lift arm 32 d can also be configured to pivotally/rotatablycouple with upper lift arm 32 c such that intermediate lift arm 32 dpivots/rotates about axis 25. Intermediate lift arm 32 d can be drivento rotate/pivot about axis 25 by extension and retraction of electricactuator 34 d.

Platform assembly 16 is configured to be driven to pivot about axis 28(e.g., rotate about axis 28 in either a clockwise or a counter-clockwisedirection) by an electric motor 26 (e.g., a rotary electric actuator, astepper motor, a platform rotator, a platform electric motor, anelectric platform rotator motor, etc.). Electric motor 26 can beconfigured to drive frame 24 to pivot about axis 28 relative to upperlift arm 32 c (or relative to intermediate lift arm 32 d). Electricmotor 26 can be configured to drive a gear train to pivot platformassembly 16 about axis 28.

Lift assembly 14 is configured to pivotally or rotatably couple withbase assembly 12. Base assembly 12 include a rotatable base member, arotatable platform member, a fully electric turntable, etc., shown asturntable 70. Lift assembly 14 is configured to rotatably/pivotallycouple with base assembly 12. Turntable 70 is rotatably coupled with abase, frame, structural support member, carriage, etc., of base assembly12, shown as base 36. Turntable 70 is configured to rotate or pivotrelative to base 36. Turntable 70 can pivot/rotate about central axis 42relative to base 36. Turntable 70 facilitates accessing various elevatedand angularly offset locations at platform assembly 16. Turntable 70 isconfigured to be driven to rotate or pivot relative to base 36 by anelectric motor, an electric turntable motor, an electric rotaryactuator, etc., shown as turntable motor 44. Turntable motor 44 can beconfigured to drive a ring gear that is rotatably coupled with base 36to produce relative rotation of turntable 70 relative to base 36. Lowerlift arm 32 a is pivotally coupled with turntable 70 (or with aturntable member 72 of turntable 70) such that lift assembly 14 andplatform assembly 16 rotate as turntable 70 rotates about central axis42. In some embodiments, turntable 70 is configured to rotate a complete360 degrees about central axis 42 relative to base 36. In otherembodiments, turntable 70 is configured to rotate an angular amount lessthan 360 degrees about central axis 42 relative to base 36 (e.g., 270degrees, 120 degrees, etc.).

Base assembly 12 includes one or more energy storage devices (e.g.,capacitors, batteries, Lithium-Ion batteries, Nickel Cadmium batteries,etc.), shown as batteries 64. Batteries 64 are configured to storeenergy in a form (e.g., in the form of chemical energy) that can beconverted into electrical energy for the various electric motors andelectric actuators of electric boom 10. Batteries 64 can be storedwithin base 36. Electric boom 10 includes a controller 38 configured tooperate any of the electric motors, electric actuators, etc., ofelectric boom 10. Controller 38 can be configured to receive sensoryinput information from various sensors of electric boom 10, user inputsfrom HMI 20 (or any other user input device such as a key-start or apush-button start), etc. Controller 38 can be configured to generatecontrol signals for the various electric motors, electric actuators,etc., of electric boom 10 to operate any of the electric motors,electric actuators, electrically powered movers, etc., of electric boom10. Batteries 64 are configured to power any of the electrical motors,sensors, actuators, electric linear actuators, electrical devices,electrical movers, stepper motors, etc., of electric boom 10. Baseassembly 12 can include a power circuit including any necessarytransformers, resistors, transistors, thermistors, capacitors, etc., toprovide appropriate power (e.g., electrical energy with appropriatecurrent and/or appropriate voltage) to any of the electric motors,electric actuators, sensors, electrical devices, etc., of electric boom10.

Batteries 64 are configured to deliver power to electric motors 52 todrive tractive elements 82. A rear set of tractive elements 82 can beconfigured to pivot to steer electric boom 10. In other embodiments, afront set of tractive elements 82 are configured to pivot to steerelectric boom 10. In still other embodiments, both the front and therear set of tractive elements 82 are configured to pivot (e.g.,independently) to steer electric boom 10.

Base assembly 12 can include one or more laterally extending framemembers (e.g., laterally extending structural members) and one or morelongitudinally extending frame members (e.g., longitudinally extendingstructural members).

Base assembly 12 includes a steering system 150. Steering system 150 isconfigured to drive tractive elements 82 to pivot for a turn of electricboom 10. Steering system 150 can be configured to pivot tractiveelements 82 in pairs (e.g., to pivot a front pair of tractive elements82), or can be configured to pivot tractive elements 82 independently(e.g., four-wheel steering for tight-turns).

Base assembly 12 can include an HMI 21 (e.g., a user interface, a userinput device, a display screen, etc.). In some embodiments, HMI 21 iscoupled with base 36. In other embodiments, HMI 21 is positioned onturntable 70. HMI 21 can be positioned on any side or surface of baseassembly 12 (e.g., on the front 62 of base 36, on the rear 60 of base36, etc.)

Referring now to FIGS. 2-3, base assembly 12 includes a longitudinallyextending frame member 54 (e.g., a rigid member, a structural supportmember, an axle, a base, a frame, a carriage, etc.). Longitudinallyextending frame member 54 provides structural support for turntable 70as well as tractive elements 82. Longitudinally extending frame member54 is pivotally coupled with lateral frame members 110 (e.g., axles,frame members, beams, bars, etc.) at opposite longitudinal ends oflongitudinally extending frame member 54. For example, lateral framemembers 110 may be pivotally coupled with longitudinally extending framemember 54 at a front end and a rear end of longitudinally extendingframe member 54. Lateral frame members 110 can be configured to pivotabout a pivot joint 58. Pivot joint 58 can include a pin and a receivingportion (e.g., a bore, an aperture, etc.). The pin of pivot joint 58 iscoupled to one of lateral frame member 110 (e.g., a front lateral framemember 110 or a rear lateral frame member 110) or longitudinallyextending frame member 54 and the receiving portion is coupled to theother of longitudinally extending frame member 54 and lateral framemember 110. For example, the pin may be coupled with longitudinallyextending frame member 54 and the receiving portion can be coupled withone of lateral frame members 110 (e.g., integrally formed with the frontlateral frame member 110).

In some embodiments, longitudinally extending frame member 54 andlateral frame members 110 are integrally formed or coupled (e.g.,fastened, welded, riveted, etc.) to define base 36. In still otherembodiments, base 36 is integrally formed with longitudinally extendingframe member 54 and/or lateral frame members 110. In still otherembodiments, base 36 is coupled with longitudinally extending framemember 54 and/or lateral frame members 110.

Base assembly 12 includes one or more axle actuators 56 (e.g., electriclinear actuators, electric axle actuators, electric levelling actuators,etc.). Axle actuators 56 can be linear actuators configured to receivepower from batteries 64. Axle actuators 56 can be configured to extendor retract to contact a top surface of a corresponding one of lateralframe members 110. When axle actuators 56 extend, an end of a rod ofelectric levelling actuators can contact the surface of lateral framemember 110 and prevent relative rotation between lateral frame member110 and longitudinally extending frame member 54. In this way, therelative rotation/pivoting between lateral frame member 110 andlongitudinally extending frame member 54 can be locked (e.g., to preventrolling of longitudinally extending frame member 54 relative to lateralframe members 110 during operation of lift assembly 14). Axle actuators56 can receive power from batteries 64. Axle actuators 56 receivecontrol signals from controller 38. Axle actuators 56 receive electricalpower (e.g., to extend or retract) from batteries 64.

Steering System

Referring now to FIGS. 4-12, steering system 150 is shown in greaterdetail, according to an exemplary embodiment. Steering system 150 isconfigured to pivot tractive elements 82 to perform a turn. Steeringsystem 150 includes one or more frame members, control arm assemblies,hub assemblies, knuckles, etc., shown as steering knuckle 106. Tractiveelements 82 are rotatably coupled with steering knuckle 106. Tractiveelements 82 are configured to rotate relative to steering knuckle 106about axis 190. Tractive elements 82 can frictionally interface with aground surface and thereby drive electric boom 10 as they are driven torotate by electric motors 52.

Steering knuckle 106 is configured to rotate/pivot relative to laterallyextending frame members 102/104 about axis 120 to facilitate steering ofelectric boom 10. Steering knuckle 106 can rotatably couple withlaterally extending frame members 102/104 with a bearing. Electric motor52 can be configured to pivot with steering knuckle 106 as steeringknuckle 106 rotates about axis 120. Steering knuckle 106 is driven topivot about axis 120 by a tie rod, a control arm, a rigid member, etc.,shown as steering member 192. Steering member 192 includes a firstarcuate member 108 a and a second arcuate member 108 b (e.g., curvedmembers, bowed members, arching members, etc.). Arcuate members 108 canhave a generally arcuate shape, a curved shape, a constant-radius curvedshape, a non-constant radius curved shape, an angled shape (e.g., twostraight or curved portions angularly offset), etc. Steering member 192is configured to pivotally couple with a connecting portion 112 ofsteering knuckle 106 about axis 111. Steering member 192 can be coupledwith an elongated member, a cylinder, a pin, a rod, etc., shown as pin202 that extends between first arcuate member 108 a and second arcuatemember 108 b through a corresponding aperture of connecting portion 112.In some embodiments, pin 202 is fixedly coupled with arcuate members 108and is rotatably coupled with an aperture/bore of steering knuckle 106.In other embodiments, pin 202 is fixedly coupled with steering knuckle106 and is rotatably coupled with apertures/bores of arcuate members108. First arcuate member 108 a and second arcuate member 108 b eachinclude a connecting end 196, respectively. Connecting end 196 caninclude an aperture, bore, hole, etc., that extends therethrough and isconfigured to couple with pin 202. In some embodiments, a bearing (e.g.,a sleeve bearing, a ball bearing, etc.) is disposed in the aperture ofconnecting portion 112 and is configured to couple with pin 202 thatextends between first arcuate member 108 a and second arcuate member 108b. The pivotal/rotatable interface between steering knuckle 106 andfirst and second arcuate members 108 a and 108 b facilitates relativerotation between steering knuckle 106 and steering member 192 about axis111.

Electric motor 52 is configured to drive tractive element 82. Electricmotor 52 can be mounted between laterally extending frame member 102 andlaterally extending frame member 104. Laterally extending frame members102/104 are end portions of one of (e.g., a front, a rear) lateral framemember 110. Lateral frame member 110 can extend along substantially anentire lateral width of electric boom 10. Lateral frame member 110provide structural support between tractive elements 82 and baseassembly 12. Lateral frame member 110 extends along lateral axis 80 ofelectric boom 10.

Steering member 192 has a generally arcuate shape and extends betweenelectric actuator 122 (e.g., an electric linear actuator, a linearelectric steering actuator, etc.) and steering knuckle 106. Steeringmember 192 is configured to couple with a rod, a cylinder, an extensionmember, a push rod, etc., of electric actuator 122, shown as rod 126.Steering member 192 can be fixedly coupled with an end portion, aconnecting portion, a clevis, an attachment portion, etc., of rod 126,shown as end portion 130. Rod 126 is configured to extend and retractrelative to a body, a housing, a frame, a main member, an outer member,etc., of electric actuator 122, shown as body 124. Rod 126 can bereceived therewithin body 124 of electric actuator 122 and driven toextend and retract by electric motor 132. Electric motor 132 may beconfigured to interface with a gear that drives a drive nut (not shown).The drive nut may drive rod 126 to extend or retract.

End portion 130 of rod 126 is configured to be received therebetweenfirst arcuate member 108 a and second arcuate member 108 b. Firstarcuate member 108 a and second arcuate member 108 b can besubstantially parallel to each other and extend outwards betweenelectric actuator 122 and tractive element 82. End portion 130 can befixedly coupled with first arcuate member 108 a and second arcuatemember 108 b. In some embodiments, end portion 130 is fixedly coupledwith first arcuate member 108 a and second arcuate member 108 b withfasteners 128 (e.g., bolts, rivets, screws, etc.) that extendtherethrough. In some embodiments, two or more fasteners 128 are used tofixedly couple end portion 130 of rod 126 with steering member 192(i.e., with first arcuate member 108 a and second arcuate member 108 b).In other embodiments, end portion 130 of rod 126 and steering member 192are integrally formed, welded, etc., or otherwise fixedly attached.

The fixed connection between end portion 130 of rod 126 and steeringmember 192 prevents rotation between rod 126 and steering member 192.Advantageously, this facilitates reducing transverse loads being appliedto electric actuator 122. This can reduce the likelihood of any of theinternal components of electric actuator 122 failing due to excessivetransverse loads/forces.

Electric actuator 122 is configured to pivotally couple withlongitudinally extending frame members 142. Longitudinally extendingframe members 142 extend longitudinally outwards from lateral framemember 110. Longitudinally extending frame members 142 can extend from acenterpoint of lateral frame member 110. Longitudinally extending framemembers 142 can extend outwards (e.g., in forwards direction 50) fromlateral frame member 110. Longitudinally extending frame members 142 canbe removably coupled with lateral frame member 110 (e.g., withfasteners), integrally formed with lateral frame member 110, orotherwise connected/coupled with lateral frame member 110. Electricactuator 122 is disposed between longitudinally extending frame member142 a and longitudinally extending frame member 142 b. Body 124 ofelectric actuator 122 can be positioned between longitudinally extendingframe member 142 a and longitudinally extending frame member 142 b.

A pin 198 may extend at least partially (or entirely) through anaperture of electric actuator 122 and corresponding apertures oflongitudinally extending frame members 142. Electric actuator 122 isconfigured to pivot, swivel, rotate, etc., about axis 180 relative tolongitudinally extending frame members 142. As electric actuator 122extends and retracts, electric actuator 122 may pivot about axis 180 ineither direction. Axis 180 can be defined as extending through pin 198.Pin 198 can be fixedly coupled with electric actuator 122 and configuredto rotatably couple with bearings, mounting members, rotatable couplingmembers, etc., shown as coupling members 200. Coupling members 200 canbe disposed on outer sides of longitudinally extending frame members142. For example, coupling member 200 a may be disposed on an upper orouter surface of longitudinally extending frame member 142 a, whilecoupling member 200 b is disposed on a bottom or outer surface oflongitudinally extending frame member 142 b. Pin 198 can be slidablycoupled with an aperture, bore, hole, etc., of body 124 of electricactuator 122. In other embodiments, pin 198 is fixedly coupled with thebore of body 124. In still other embodiments, pin 198 is slip fit withan inner surface of the bore of body 124. Pin 198 can be rotatablycoupled with coupling members 200. Coupling members 200 can each includea bearing (e.g., a ball bearing, a roller bearing, a sleeve bearing,etc.) configured to couple with pin 198. Coupling members 200 can becoupled with longitudinally extending frame members 142.

Longitudinally extending frame member 142 a and longitudinally extendingframe member 142 b can be substantially parallel to each other anddefine a receiving area therebetween. The receiving area is configuredto receive body 124 of electric actuator 122 therebetween. Pin 198 mayextend through at least a portion or substantially an entirety of thereceiving area defined between longitudinally extending frame member 142a and longitudinally extending frame member 142 b.

As electric actuator 122 extends (e.g., rod 126 extends relative to body124), electric actuator 122 may rotate about axis 180. Likewise,steering knuckle 106 and steering member 192 rotate relative to eachother about axis 111. Similarly, when electric actuator 122 retracts(e.g., rod 126 retracts relative to body 124), electric actuator 122 mayrotate about axis 180 and steering knuckle 106 and steering member 192rotate relative to each other about central axis 111. In this way,extension and retraction of electric actuator 122 can drive therotation/pivoting of steering knuckle 106 about axis 120 to turntractive element 82. Electric actuator 122 can receive power forextending and retracting from batteries 64. Electric actuator 122 canreceive control signals that indicate a degree of extension orretraction (and thereby indicate a degree of turn of tractive elements82) from controller 38. Controller 38 may provide electric actuator 122with the control signals that indicate the degree of extension orretraction in response to receiving a user input from HMI 20, or anyother user input device of electric boom 10. Controller 38 operateselectric actuator 122 to extend or retract to indicate a direction ofturn of electric boom 10.

Electric motors 52 can also receive power from batteries 64 to drivetractive elements 82. Electric motors 52 can receive a control signalfrom controller 38 to operate (e.g., a desired speed).

Arcuate members 108 have a curved shape such that when tractive elements82 are pivoted to their angular extremes (e.g., a sharpest turnpossible, when electric actuator 122 is fully extended, etc.), steeringmember 192 does not contact electric motors 52. This facilitates sharperturns of electric boom 10 without steering member 192 contactingelectric motors 52.

Referring particularly to FIG. 8, electric boom 10 can include a shield,a guard, a planar member, etc., shown as guard member 131. Guard member131 can protrude outwards from electric boom 10 in a direction of travelof electric boom 10. Guard member 131 provides a barrier for objects infront of electric boom 10 such that electric actuator 122 does notcontact the objects as electric boom 10 is driven. Electric boom 10 caninclude a front guard member 131 and a rear guard member 131 disposed atopposite ends of electric boom 10. Guard members 131 can protrudeoutwards along longitudinal axis 78 in either forwards direction 50 orrearwards direction 51. For example, a front guard member 131 mayprotrude outwards in forwards direction 50 from front 62 of baseassembly 12. Likewise, a rear guard member 131 may protrude in rearwardsdirection 51 from rear 60 of base assembly 12.

It should be noted that while only one tractive element 82 is shownpivoted/rotated by steering system 150, any or all of tractive elements82 of electric boom 10 can be similarly configured. For example,steering system 150 can include a similar and symmetric electricactuator 122 at an opposite side (e.g., a right/left side) of baseassembly 12 that steers tractive element 82 at the opposite side. Insome embodiments, steering system 150 is positioned on an outwardsfacing side of lateral members 110 (e.g., a forwards facing side of afront lateral frame member 110, a rearwards facing side of a rearlateral frame member 110). In other embodiments, steering system 150 ispositioned in an inwards facing side of lateral members 110 (e.g., aninwards facing side of a front lateral frame member 110, a front facingside of a rear lateral frame member 110).

Turn Table

Referring now to FIG. 13, turntable 70 (e.g., a swing drive) is shown ingreater detail, according to an exemplary embodiment. Turntable 70includes a gear, shown as ring gear 608. Ring gear 608 includes abearing, shown as slewing bearing 614. Slewing bearing 614 is configuredto interface with a cylindrical protrusion 616 of base 36. Cylindricalprotrusion 616 and base 36 are integrally formed with each other.Cylindrical protrusion 616 is configured to couple with an inner surface(e.g., an inner race) of slewing bearing 614. Slewing bearing 614 can bepress fit, slip fit, fastened (e.g., with a keyed interface) withcylindrical protrusion 616 of base 36. Ring gear 608 includes teeth 618along an entire perimeter of an outer surface. Ring gear 608 can be aspur gear, a helical gear, etc., or any other gear.

Ring gear 608 can couple with turntable member 72. Ring gear 608 can beremovably coupled with turntable member 72 (e.g., with fasteners,rivets, bolts, etc.) of turntable 70. Turntable member 72 rotates asring gear 608 is driven to rotate by turntable motor 44. Turntable motor44 can be a stepper motor, a reversible motor, a brushless motor, etc.Turntable motor 44 can operate in forwards or reverse (e.g., operate toprovide rotational kinetic energy in a clockwise direction or acounter-clockwise direction).

Turntable motor 44 is an electric motor configured to receive electricalpower from batteries 64. Turntable motor 44 can be a component of motorassembly 602. Motor assembly 602 can be mounted (e.g., coupled,removably coupled, connected, fastened, etc.) to base 36 or to turntablemember 72. If motor assembly 602 is coupled to (e.g., mounted on) base36, turntable motor 44 is configured to provide rotational kineticenergy to ring gear 608 to rotate ring gear 608 relative to base 36.Similarly, if motor assembly 602 is coupled to turntable member 72,motor assembly 602 rotates with turntable member 72 as turntable member72 rotates. Motor assembly 602 can be mounted to either turntable member72 (or any other member that rotates with ring gear 608), or can bemounted to base 36 (or any other member that is coupled to base 36).

Motor assembly 602 includes a gear box 604 (e.g., a speed reducing gearbox, a reduction gear box, a torque increasing gearbox, etc.). Gear box604 can include any gears (e.g., planetary gears, helical gears, spurgears, bevel gears, etc.) that transform the torque provided byturntable motor 44. Turntable motor 44 includes a drive shaft (notshown) that is rotatably coupled with one of the gears of gear box 604.Gear box 604 is configured to increase the torque provided by turntablemotor 44 before the rotational kinetic energy is provided to ring gear608. For example, turntable motor 44 may output rotational kineticenergy having a torque T₁ and a rotational velocity ω₁. Gear box 604 isconfigured to be driven by the driveshaft of turntable motor 44 andoutput rotational kinetic energy at a torque T₂ and a rotationalvelocity ω₂ where T₂>T₁ and ω₂<ω₁. Gear box 604 either outputs therotational kinetic energy with torque T₂ and rotational velocity ω₂directly to ring gear 608 or to another gearbox, shown as transmission606 (depending on the configuration/orientation of motor assembly 602).Transmission 606 is configured to receive the rotational kinetic fromgear box 604 and transfer the rotational kinetic energy into anotheraxis. For example, if turntable motor 44 outputs rotational kineticenergy at the driveshaft about axis 612 (where axis 612 passes throughthe center of the driveshaft of turntable motor 44) and ring gear 608 isconfigured to rotate about axis 42 (where axis 42 and axis 612 areperpendicular to each other), transmission 606 can transfer therotational kinetic energy from axis 612 to axis 42.

In other embodiments (as described in greater detail below), axis 612and axis 42 are substantially parallel to each other and transmission606 is not needed. In such configurations, gear box 604 can include anoutput gear mounted to an output shaft (e.g., press fit, mounted with akeyed interface, etc.) that meshes with teeth 618 of ring gear 608. Insuch a configuration, the output gear can be any of a spur gear, ahelical gear, etc.

Transmission 606 can include any gear configuration to transfer therotational kinetic energy output by turntable motor 44 to aperpendicular axis. For example, transmission 606 can include bevelgears or a worm (e.g., a screw). If transmission 606 includes a worm,ring gear 608 can include worm gear teeth (e.g., ring gear 608 is a wormwheel).

Turntable motor 44 can receive electrical power from batteries 64through an electrical connection, wires, an electrical harness, etc.,shown as power wires 610. In some embodiments, wires 610 includes awired connection between turntable motor 44 and controller 38 such thatcontroller 38 can provide turntable motor 44 with control signals (e.g.,to operate turntable motor 44).

Motor assembly 602 can include a turntable brake 620 (e.g., an electricbrake). Turntable brake 620 can be positioned at the output driveshaftof turntable motor 44 between turntable motor 44 and gear box 604.Turntable brake 620 can lock the output driveshaft of turntable motor 44by frictionally restricting the output driveshaft of turntable motor 44from rotating. Turntable brake 620 can include electric actuators and abrake pad (e.g., drum brakes) that lock the output driveshaft ofturntable motor 44 from rotating. In other embodiments, turntable brake620 is a magnetic brake.

Turntable brake 620 can be configured to lock the output driveshaft ofturntable motor 44. In other embodiments, turntable brake 620 isconfigured to lock an output driveshaft of gear box 604. Turntable brake620 can receive electrical power from batteries 64 and control signalsfrom controller 68. In other embodiments, turntable brake 620 isconfigured to directly interface (e.g., mesh) with ring gear 608 torestrict rotation of ring gear 608 when activated.

In some embodiments, turntable motor 44 and gear box 604 are configuredto interface with a gear box for a turntable of a hydraulically poweredboom. For example, gear box 604 can increase the torque output byturntable motor 44 such that the primary mover for turntable 70 of aboom that is not fully electric can be replaced with turntable motor 44and gear box 604.

Referring now to FIGS. 14-16, various embodiments and possibleconfigurations of turntable motor 44 and gear box 604 are shown. FIGS.14-16 show various embodiments of transmission 606 to transferrotational kinetic energy from gear box 604 to ring gear 608. It shouldbe understood that the present disclosure is not limited to theconfigurations and embodiments shown, and that other configurations ofturntable motor 44 and gear box 604 are possible to drive ring gear 608.Output driveshaft 634 is the output driveshaft of gear box 604.

In one embodiment, output driveshaft 634 of gear box 604 includes a worm622 (FIG. 14). Worm 622 is configured to mesh with a worm gear (e.g., aworm wheel). Ring gear 608 can be a worm gear and mesh with worm 622.Output driveshaft 634 rotates about axis 612 and the rotational kineticenergy is transferred to ring gear 608 which rotates about axis 42.Turntable motor 44 can be operated to rotate in either direction,thereby rotating ring gear 608 in either direction (e.g., clockwise,counter-clockwise) about axis 42. Motor assembly 602 can be mounted(e.g., removably coupled, fixedly coupled, etc.) to base 36.

In another embodiment (FIG. 15), output driveshaft 634 is rotatablycoupled with a bevel gear 624. Bevel gear 624 meshes with another bevelgear 626. Bevel gear 626 is mounted to a shaft 628 that includes a gear630 (e.g., a spur gear, a helical gear, etc.). Gear 630 meshes withteeth 618 of ring gear 608. While not shown, shaft 628 can mount withbase 36 (e.g., at a bearing). It should be understood that any otherconfiguration of bevel gears can be used to transfer the rotationalkinetic energy of turntable motor 44 from axis 612 to axis 42.

In another embodiment (FIG. 16), axis 612 of output driveshaft 634 issubstantially parallel with axis 42 of ring gear 608. A gear 632 (e.g.,a spur gear, a helical gear, etc.) can be rotatably coupled with outputdriveshaft and mesh with teeth 618 of ring gear 608.

Advantageously, turntable 70 can be driven to rotate by turntable motor44 without using any hydraulic systems or internal combustion engines.Turntable motor 44 is a fully electric motor and can provide sufficienttorque to rotate turntable 70.

Platform Rotator

Referring now to FIG. 17, upper lift arm 32 c (e.g., the jib arm) can bea telescoping arm that receives intermediate lift arm 32 d therewithin.Intermediate lift arm 32 d is configured to extend or retract relativeto upper lift arm 32 c to increase or decrease an overall length of thejib arm.

Intermediate lift arm 32 d can be pivotally coupled with a four barlinkage, a member, a bar, etc., shown as support assembly 754. Supportassembly 754 is pivotally coupled with intermediate lift arm 32 d at afirst end and supports platform assembly 16 at an opposite end. Supportassembly 754 of lift assembly 14 can be configured to rotate platformassembly 16 about axis 25. Support assembly 754 can be coupled withplatform assembly 16 through platform rotator 30. Platform rotator 30 isconfigured to pivot/rotate platform assembly 16 about axis 25. Supportassembly 754 can be driven by electric actuator 34 d to pivot/rotateplatform assembly 16 about axis 25.

Referring now to FIGS. 18-21, platform rotator 30 is configured tocouple with a support member 702 of platform assembly 16, and a supportmember 700 of lift assembly 14. Platform rotator 30 is configured torotate support member 702 (and therefore platform assembly 16) aboutaxis 28 relative to support member 700 of lift assembly 14. Supportmember 702 can be a portion of frame 24. In other embodiments, supportmember 702 is integrally formed or removably coupled (e.g., withfasteners) with frame 24 of platform assembly 16. Support member 700 canbe an end portion of support assembly 754 or an end member of the jibarm.

A support member, protrusion, structural support member, supportportion, etc., shown as structural member 704 extends from supportmember 702 of platform assembly 16. Structural member 704 is coupledwith a housing portion, barrel, casing, cylinder, shell, structuralmember, etc., shown as housing member 708. Housing member 708 canfunction as both a housing member that encloses internal components ofplatform rotator 30 (e.g., gears, shafts, bearings, etc.) and alsoprovides structural support to pivotally couple platform assembly 16with lift assembly 14. Housing member 708 can be a tubular member.Housing member 708 may be integrally formed with structural member 704.Structural member 704 couples (e.g., fixedly) housing member 708 withsupport member 702 of platform assembly 16.

Another support member, protrusion, member, structural support member,support portion, coupling member, etc., shown as structural member 718extends from support member 702 of platform assembly 16. Structuralmember 718 is coupled with a housing portion, barrel, casing, cylinder,shell, structural member, tubular member, etc., shown as housing member720. Structural member 718 may be the same as or symmetric to structuralmember 704. Likewise, housing member 720 may be the same as or symmetricto housing member 708. Housing member 720 can be integrally formed withstructural member 718. Structural member 704 may extend from a lowerportion of support member 702, while structural member 718 extends froman upper portion of support member 702.

Housing member 720 and housing member 708 can include an inner volume, aspace, etc., therewithin for containing internal components (e.g.,gears, bearings, shafts, etc.) of platform rotator 30. Housing member720 and housing member 708 can be removably coupled with each other todefine an inner volume therewithin. Housing member 720 and housingmember 708 can include a rim, ledge, protrusion, periphery, annularprotrusion, etc., shown as annular member 760 and annular member 762.Annular member 760 can be integrally formed with housing member 720.Likewise, annular member 762 can be integrally formed with housingmember 708. Annular member 762 and annular member 760 can extend alongan entire perimeter of housing member 708 and housing member 720,respectively.

Housing member 720 and housing member 708 can couple with each other atannular member 760 and annular member 762. Annular member 760 andannular member 762 can include corresponding apertures, holes, bores,openings, etc., that extend along an entire perimeter of annular member760 and annular member 762. The apertures can be spaced apart along theperimeter of annular member 760 and annular member 762. The apertures ofannular member 760 and the apertures of annular member 762 can bealigned with each other and receive fasteners 764 therethrough. In thisway, housing member 720 and housing member 708 can be removably coupledby fasteners 764.

A support member, protrusion, structural support member, supportportion, coupling member, etc., shown as structural member 714 extendsfrom support member 700 of lift assembly 14. Structural member 714 canbe integrally formed with support member 700 of lift assembly 14. Inother embodiments, structural member 714 is removably coupled withsupport member 700 of lift assembly 14. Structural member 714 can extendfrom an upper portion of support member 700.

Structural member 714 is coupled with a housing portion, barrel, casing,cylinder, shell, structural member, tubular member, etc., shown as uppersupport member 724. Upper support member 724 can be integrally formedwith structural member 714. Upper support member 724 can have agenerally circular outer periphery or a generally cylindrical shape. Abottom surface of upper support member 724 can slidably couple with anupper/top surface of housing member 720. Upper support member 724 andhousing member 720 are configured to pivot/rotate relative to each otherabout axis 28. Upper support member 724 and housing member 720 may beco-axial with each other about axis 28.

Upper support member 724 can define an inner volume, an inner space, aninner area, etc., for partially or completely enclosing internalcomponents of platform rotator 30. Upper support member 724 can beadjacent and above housing member 720. Upper support member 724 iscoupled with a housing, casing, shell, etc., shown as motor housing 716.Motor housing 716 can be removably coupled with upper support member 724(e.g., via fasteners).

Motor housing 716 includes an inner volume, inner space, inner area,etc., for containing and enclosing electric motor 26. Motor housing 716can function as both a housing member (e.g., enclosing electric motor 26therewithin) as well as a structural member (e.g., electric motor 26 canbe fixedly coupled/mounted to an inner wall of motor housing 716).

A support member, protrusion, structural support member, supportportion, coupling member, etc., shown as structural member 730 extendsfrom support member 700 of lift assembly 14. Structural member 730 canbe integrally formed with support member 700 or can be removably coupledwith support member 700 (e.g., with fasteners).

Structural member 730 is coupled with a housing portion, barrel, casing,cylinder, shell, structural member, tubular member, etc., shown asbottom support member 732. Bottom support member 732 can be a structuralsupport member that is adjacent (e.g., below) housing member 708 andprovides structural support to housing member 708. Bottom support member732 can slidably interface with housing member 708. Bottom supportmember 732, housing member 708, housing member 720, and upper supportmember 724 may all be co-axial with each other about axis 28.

Housing member 720 and housing member 708 can be supported therebetweenupper support member 724 and bottom support member 732. Housing member720 and housing member 708 are configured to pivot/rotate together aboutaxis 28 relative to upper support member 724 and bottom support member732.

Motor housing 716 includes a connecting portion, a port, an electricalconnecting portion, etc., shown as connector 758. Connector 758 isconfigured to couple with an electrical wire, a hardness, a cord, etc.,shown as electrical cord 710. Electrical cord 710 can be coupled withconnector 758 and provide electrical power to electric motor 26therewithin motor housing 716. Electrical cord 710 can also provideelectrical power to brake 766. Electrical cord 710 also facilitatescommunicable connection between electric motor 26, brake 766, andcontroller 38.

Electric motor 26 is configured to receive electrical energy throughelectrical cord 710 from batteries 64. Electric motor 26 can be a rotaryactuator, a stepper motor, a reversible motor, etc. Electric motor 26 isconfigured to drive housing members 720 and 708 to pivot/rotate aboutaxis 28 relative to upper support member 724 and lower support member732, thereby rotating/pivoting platform assembly 16 about axis 28.Electric motor 26 drives a shaft, shown as output driveshaft 740. Outputdriveshaft 740 can be rotatably coupled with inner races of one or morebearings 742. Bearings 742 can be any ball bearings, roller bearings,etc. Bearings 742 can be disposed at any location along outputdriveshaft 740. For example, one of bearings 742 can be mounted in abore, hole, aperture, opening, etc., of lower support member 732.Another one of bearings 742 can be mounted in a bore, hole, aperture,opening, etc., of upper support member 724. Likewise, another bearing742 can be mounted in an aperture, bore, hole, opening, etc., of motorhousing 716.

Platform rotator 30 can include a brake 766. Brake 766 is configured totransition between an activated state and a de-activated state. Whenbrake 766 is in the activated state, platform assembly 16 is restrictedfrom pivoting about axis 28 relative to lift assembly 14. For example,brake 766 can transition into the activated state to facilitatepreventing relative rotation/pivoting between housing members 720 and708, and upper/lower support members 724 and 732. Brake 766 can be anyof an electro-magnetic brake, a frictional brake, etc. Brake 766 can beconfigured to facilitate restricting rotation of output driveshaft 740of electric motor 26. For example, brake 766 can receive electricalpower from batteries 64 and control signals from controller 38 and usethe electrical power received from batteries 64 to transition betweenthe activated and the deactivated state. Brake 766 can transitionbetween the activated state and the deactivated state in response toreceiving control signals from controller 38.

Brake 766 can be mounted within an inner volume of any of motor housing716, upper support member 724, housing member 720, housing member 708,lower support member 732, etc. Brake 766 is an electrical brake thatuses electrical energy/power from batteries 64 to transition between theactivated state and the deactivated state.

Electric motor 26 can provide rotational kinetic energy to pivot/rotateplatform assembly 16 relative to lift assembly 14 through outputdriveshaft 740. Platform rotator 30 can include internal gearing, shownas gear box 768. Gear box 768 can be a reduction gearbox. For example,gear box 768 can receive an input torque T₁ at an angular velocity ω₁and output a torque T₂ at an angular velocity ω₂ where T₂>T₁ and ω₂<ω₁.Output driveshaft 740 can be co-axial with axis 28. In otherembodiments, output driveshaft 740 is offset from axis 28. Gear box 768can provide the torque T₂ about axis 28 to any of housing member 708,housing member 720, structural member 718, structural member 704, etc.,to drive platform assembly 16 to pivot about axis 28 relative to liftassembly 14. In some embodiments, gear box 768 provides the torque T₂ toa gearbox driveshaft that drives any of housing member 720, housingmember 708, structural member 718, structural member 704, etc., to pivotabout axis 28 relative to upper support member 724, lower support member732, etc.

Gear box 768 can include any gearing configuration/shafts to increasethe torque provided from electric motor 26 before it is used to pivotplatform assembly 16 relative to lift assembly 14. In some embodiments,gear box 768 includes one or more planetary gear sets. In someembodiments, multiple planetary gear sets are used in gear box 768 withthe output of one planetary gear set being provided as the input toanother planetary gear set. Gear box 768 can be disposed within theinner volume formed by housing member 720 and housing member 708. Inother embodiments, gear box 768 is at least partially disposed withinmotor housing 716.

In other embodiments, multiple gear boxes 768 are used. For example, afirst gear box can be disposed within motor housing 716, while a secondgear box is disposed within housing member 720 and housing member 708.

Brake 766 can be positioned between electric motor 26 and gear box 768.In other embodiments, brake 766 is configured to interface with anygears, shafts, etc., of gear box 768. For example, brake 766 can beconfigured to activate to facilitate preventing rotation/pivoting of anoutput shaft of gear box 768 that drives platform assembly 16 torotate/pivot relative to lift assembly 14.

Referring now to FIGS. 22 and 23, the operation of platform rotator 30is shown in greater detail, according to an exemplary embodiment.Platform rotator 30 can operate (e.g., by operating electric motor 26)to pivot platform assembly 16 about axis 28 relative to lift assembly14. Advantageously, platform rotator 30 is a fully-electric rotaryactuator that does not require any hydraulic systems, engines, pumps,etc., to operate. Platform rotator 30 can operate using electrical powerfrom batteries 64. Platform rotator 30 can operate in response toreceiving a control signal from controller 38. Controller 38 may provideplatform rotator 30 with control signals to pivot platform assembly 16about axis 28 in either a clockwise direction or a counter-clockwisedirection based on a user input received from HMI 20 and/or HMI 21.Controller 38 can provide control signals to brake 766 to lock a currentangular position of platform assembly 16 relative to lift assembly 14.For example, an operator can provide a user input at HMI 20 and/or HMI21 to rotate platform assembly 16 from the angular orientation as shownin FIG. 22 to the angular orientation as shown in FIG. 23. The operatorcan then provide a user input at HMI 20 and/or HMI 21 to lock thecurrent angular position of platform assembly 16 (e.g., to lock platformrotator 30 in the angular position shown in FIG. 23).

Boom and Electric Actuators

Referring now to FIG. 24, a portion of lift assembly 14 is shown,according to an exemplary embodiment. The portion shown in FIG. 24(excluding jib arm 824) may be referred to as “the boom” of electricboom 10. The boom of lift assembly 14 includes an upright member, acoupling member, a linkage, etc., shown as upright member 802. Uprightmember 802 is pivotally coupled with various members, boom arms, etc.,shown as members 806-812. Lower members 806 and 808 are pivotallycoupled at a lower end with turntable 70 (e.g., at turntable member 72).Lower members 806 and 808 can be substantially parallel with each other.Lower members 806 and 808 can be supported at one end by turntablemember 72 and are pivotally coupled with turntable member 72. Lowermembers 806 and 808 can be pivotally coupled with turntable member 72 atpins 826 and are configured to rotate about pins 826. Lower member 806and 808 are pivotally coupled with upright member 802 at an upper endwith pins 818.

Upper members 810 and 812 can also be substantially parallel to eachother. Upper members 810 and 812 are each pivotally coupled at a firstend (e.g., a lower end) to upright member 802 with pins 818. Uppermembers 810 and 812 are each pivotally coupled with upright member 804(e.g., a connecting portion, a coupling bar, etc.) at an opposite end(e.g., an upper end) with pins 818.

Lift assembly 14 includes an electric linear actuator, shown as electricactuator 814. Electric actuator 814 is configured to receive electricalenergy from batteries 64 and extend or retract to raise and lower liftassembly 14. Electric actuator 814 is configured to pivotally couple ata bottom end with one of lower members 806 and 808. In FIG. 24, electricactuator 814 is shown pivotally coupling with lower member 806 with pin822. In other embodiments, electric actuator 814 is pivotally coupled atthe bottom end with lower member 808. Electric actuator 814 includes anouter cylinder 846 and an inner cylinder 828 (e.g., a rod, an innermember, etc.). Inner cylinder 828 is configured to extend/retract (e.g.,linearly translate) relative to outer cylinder 846. Outer cylinder 846can receive inner cylinder 828 therewithin. Pivotally coupling electricactuator 814 with lower member 806 facilitates using an electricactuator with a longer stroke length.

Electric actuator 814 is pivotally coupled with upper member 810 bytrunnion mount 816. In other embodiments, electric actuator 814 ispivotally coupled with upper member 812 using a trunnion mount similarto trunnion mount 816. Electric actuator 814 extends beyond trunnionmount 816. Advantageously, using trunnion mount 816 facilitates using anelectric actuator with a longer extendable range. For example, trunnionmount 816 facilitates additional length of electric actuator 814extending beyond trunnion mount 816. The additional length correspondsto a longer range of extension/retraction (e.g., a greater strokelength), thereby facilitating a larger range over which upright member804 can be raised/lowered.

Electric actuator 814 can be extended to rotate upper members 810 and812 about pins 818 at upright member 802. Extending electric actuator814 drives upper members 810 and 812 to rotate in a counter clockwisedirection about pins 818 at upright member 802, thereby raising uprightmember 804. A member, an arm, a jib, an elongated member, etc., shown asjib arm 824 is coupled with upright member 804. Therefore, as electricactuator 814 extends, jib arm 824 is raised with upright member 804.Likewise, retracting electric actuator 814 drives upper member 810 and812 to rotate in a clockwise direction about pins 818 at upright member802, thereby lowering upright member 804. Jib arm 824 can be the same asor similar to upper lift arm 32 c. Jib arm 824 can be pivotally orrotatably coupled with upright member 804.

Lower members 806 and 808 are configured to pivot about pins 826 toraise and lower upright member 802. Lower members 806 and 808 rotateabout pins 826 in a clockwise direction to raise upright member 802.Likewise, lower members 806 and 808 rotate in a counter clockwisedirection to lower upright member 802. A mechanical stop can be used atpins 826 to restrict lower members 806 and 808 from rotating beyond aparticular angular position in the clockwise direction. For example,lower members 806 and 808 may be prevented from rotating about pins 826below a horizontal axis by the mechanical stop.

Lower members 806 and 808 can be driven to rotate about pins 826 ineither direction due to the extension and retraction of electricactuator 814. In other embodiments, an electric actuator similar toelectric actuator 814 (e.g., a linear electric actuator) is pivotallycoupled with one of lower members 806 and 808 and is pivotally coupledwith turntable 70. The electric actuator can then be driven to extendand retract to rotate lower members 806 and 808 about pins 826 in aclockwise and a counter clockwise direction, respectively. The electricactuator can be mounted to one of lower members 806 and 808 using atrunnion mount similar to trunnion mount 816.

Any of members 806-812 can include multiple members spaced a distanceapart. Electric actuator 814 can extend therebetween the multiplemembers. Upper members 810 and 812, upright member 802, and uprightmember 804 form a four-bar linkage, with upper members 810 and 812 beingpivotally coupled with upright member 802 and upright member 804 attheir ends. Likewise, lower members 806 and 808, upright member 802, andturntable 70 form a four bar linkage, with lower members 806 and 808being pivotally coupled with upright member 802 and turntable 70 attheir ends.

Referring now to FIGS. 25-27, the boom of lift assembly 14 is shown ingreater detail, according to an exemplary embodiment. Each of members806-812 includes a pair of parallel bars, beams, members, etc., spaced adistance apart. For example, lower member 806 includes lower member 806a and lower member 806 b. Lower member 806 a and lower member 806 b areparallel to each other and are spaced a distance apart. Lower member 806includes support beams, structural members, etc., shown as cross members842. Cross members 842 extend between lower member 806 a and 806 b andprovide structural support between lower member 806 a and lower member806 b. Cross members 842 can be spaced a distance apart alongsubstantially an entire overall length of lower member 806. Crossmembers 842, lower member 806 a and lower member 806 b can all beintegrally formed with each other (or welded, or fastened, etc.). Eachof members 806-812 can be constructed similarly to lower member 806.

Referring now to FIGS. 28-31, trunnion mount 816 includes a collar,band, connector, etc., shown as collar 832. Collar 832 surroundssubstantially an entire outer surface, periphery, etc., of electricactuator 814. Collar 832 can be clamped to the outer surface of electricactuator 814. In other embodiments, collar 832 interlocks with the outersurface of electric actuator 814, or can be frictionally interfaced withthe outer surface of electric actuator 814. In some embodiments, collar832 is a clamping collar and is clamped to electric actuator 814 withfasteners 852. Adjusting fasteners 852 increases clamping force providedby collar 832 to the outer surface of electric actuator 814.

Collar 832 can have an inner bore, hole, inner periphery, aperture,volume, etc., that receives electric actuator 814 therewithin. Theaperture of collar 832 corresponds to the outer surface of outercylinder 846. In some embodiments, collar 832 is a one-piece clampingcollar that is clamped to electric actuator 814 with fasteners 852. Inother embodiments, collar 832 is a two-piece clamping collar and isclamped to outer cylinder 846 with two sets of fasteners 852 (e.g.,disposed at opposite sides of collar 832). The two sets of fasteners 852can be tightened to clamp the two pieces of collar 832 to outer cylinder846 of electric actuator 814.

Collar 832 can include protrusions 834 that extend (e.g., radiallyoutwards) from opposite ends of collar 832. Protrusions 834 can beintegrally formed with collar 832. Protrusions 834 include pins,cylinders, protrusions, etc., shown as cylindrical protrusions 820.Cylindrical protrusions 820 extend from either side of collar 832 andare configured to rotatably/pivotally couple with correspondingopenings, apertures, holes, bores, etc., shown as apertures 836 of uppermember 810. When collar 832 is clamped with outer cylinder 846 ofelectric actuator 814, electric actuator 814 can rotate/pivot about axis838 of cylindrical protrusions 820 relative to upper member 810.

Protrusions 834 can be integrally formed with cylindrical protrusions820. In other embodiments, protrusions 834 of collar 832 are removablycoupled with cylindrical protrusions 820 with fasteners 840. Each offasteners 840 can extend through a corresponding one of protrusions 834and threadingly couple with a bore, aperture, hole, periphery, etc., ofthe corresponding protrusion 834. Fasteners 840 can extend through acorresponding hole, aperture, opening, bore, etc., of a correspondingone of cylindrical protrusions 820 to removably couple cylindricalprotrusion 820 with protrusion 834.

Referring now to FIGS. 33, 34, and 36, electric actuator 814 includes anelectric motor 844, a brake 848, and a gear box 850. Electric motor 844is configured to drive inner cylinder 828 of electric actuator 814 toextend or retract relative to outer cylinder 846 (and vice versa) bygear box 850. Brake 848 is positioned between electric motor 844 andgear box 850. Brake 848 is configured to lock electric motor 844 inresponse to receiving a control signal from controller 38. Brake 848 canbe any of a drum brake, an electromagnetic brake, etc.

Electric motor 844 receives electrical power from batteries 64 andcontrol signals from controller 38. Electric motor 844 operates toextend or retract electric actuator 814 (e.g., to drive outer cylinder846 and inner cylinder 828 to translate relative to each other). Aselectric actuator 814 extends or retracts to raise and lower liftassembly 14, electric actuator 814 can pivot about axis 838 of trunnionmount 816.

Referring now to FIGS. 32 and 35, jib arm 824 is driven to rotate byelectric actuator 34 c. Electric actuator 34 c can be the same as orsimilar to electric actuator 814. Jib arm 824 is pivotally or rotatablycoupled at one end with a member, support beam, structural member, etc.,shown as upright member 860. Upright member 860 is coupled with uprightmember 804. Upright member 860 may be fixedly and/or removably coupledwith upright member 804. Upright member 860 is configured to raise/lowerwith upright member 804 as electric actuator 814 is operated to extendor retract.

Electric actuator 34 c is pivotally coupled at one end with uprightmember 860. Electric actuator 34 c can be pivotally or rotatably coupledwith upright member 860 with pin 825. Electric actuator 34 c isconfigured to rotate/pivot about axis 856 in either direction (e.g.,either clockwise or counter-clockwise) as electric actuator 34 c extendsor retracts to raise and lower jib arm 824. Electric actuator 34 c isrotatably or pivotally coupled at an opposite end with jib arm 824.Electric actuator 34 c can be rotatably or pivotally coupled at theopposite end with jib arm 824 with pin 854. Electric actuator 34 c isconfigured to pivot or rotate about axis 858 as electric actuator 34 cextends or retracts to raise/lower jib arm 824.

Electric actuator 34 c can include an outer cylinder 846 and an innercylinder 828 (not shown). Outer cylinder 846 and inner cylinder 828 aredriven to translate relative to each other as electric motor 844 ofelectric actuator 34 c is operated. Electric actuator 34 c includes abrake 848. Brake 848 is configured to lock electric motor 844 ofelectric actuator 34 c. Brake 848 of electric actuator 34 c can be thesame as or similar to brake 848 of electric actuator 814. Brake 848 isconfigured to lock an output driveshaft of electric motor 844 ofelectric actuator 34 c. Electric actuator 34 c includes a gear box 850.Gear box 850 of electric actuator 34 c is configured to receiverotational kinetic energy from electric motor 844 of electric actuator34 c and drive outer electric actuator 34 c to extend or retract (e.g.,to drive outer cylinder 846 and inner cylinder 828 of electric actuator34 c to translate relative to each other). Gear box 850 of electricactuator 34 c and gear box 850 of electric actuator 814 may be the sameas or similar to each other. Gear box 850 of electric actuator 34 c andgear box 850 of electric actuator 814 can be reduction gear boxes (e.g.,gear boxes that receive input rotational kinetic energy at a first speedand a first torque, and output rotational kinetic energy at a secondspeed and a second torque, where the second speed is less than the firstspeed, and the second torque is greater than the first torque).

Advantageously, lift assembly 14 can be operated to raise and lowerplatform assembly 16 using fully electric actuators (e.g., electricactuator 814, electric actuator 34 c, and optionally another electricactuator similar to electric actuator 814 that drives lower members 806and 808 to rotate/pivot relative to turntable member 72). Trunnion mount816 facilitates using an electric actuator with a longer stroke length.

Axle Lock Out System

Referring again to FIGS. 2 and 3, electric boom 10 includes a levellingsystem, axle oscillation control system, axle orientation controlsystem, or axle position control system, shown as axle lock out system1000. Axle lock out system 1000 is configured to control the orientationof lateral frame members 110 relative to chassis 54 according to one ormore modes of operation. Axle lock out system 1000 may limit a range ofmotion of each lateral frame member 110 or set (e.g., lock) theorientation of lateral frame members 110 in specific orientations (e.g.,a level orientation).

Referring to FIG. 37, each axle actuator 56 includes an actuator body,housing, main body, or outer portion, shown as body 1010, and a rod,manipulator, interface, or inner portion, shown as rod 1012. Rod 1012 isreceived at least partially within body 1010 and is slidably coupled tobody 1010. Rod 1012 translates relative to body 1010 along an axis,shown as actuation axis 1014. As rod 1012 translates, an overall lengthof axle actuator 56 varies.

An electric motor, shown as motor 1020, is configured to consumeelectrical energy and provide mechanical energy (e.g., rotationalmechanical energy, torque on a shaft, etc.) to extend and retract rod1012 relative to body 1010 (i.e., translate rod 1012 along actuationaxis 1014). In some embodiments, motor 1020 is configured to providerotational mechanical energy. Motor 1020 is coupled to a powertransmission (e.g., gearbox, a gear drive, a belt drive, a leadscrew,etc.), shown as transmission 1022, that is configured to transfermechanical energy from motor 1020 to rod 1012 to move rod 1012 relativeto body 1010. Transmission 1022 may be configured to convert rotationalmechanical energy to translational mechanical energy. In someembodiments, transmission 1022 is configured to have a mechanicaladvantage that facilitates moving rod 1012 with motor 1020 (e.g., withthe torque output of motor 1020). Transmission 1022 can includegearboxes, belts, screws, frame members, and/or any other componentsthat facilitate the transfer and/or conversion (e.g., from rotation totranslation) of mechanical energy. In some embodiments, transmission1022 can be backdriven. By way of example, transmission 1022 may beconfigured to permit rotation of motor 1020 in response to a thresholdcompressive or tensile force on axle actuator 56. In other embodiments,transmission 1022 cannot be backdriven. By way of example, transmission1022 may include a mechanism, such as a worm gear drive or a ratchet,that only permits transmission of mechanical energy in one direction. Inother embodiments, motor 1020 and/or transmission 1022 are omitted, androd 1012 is actuated by motion of lateral frame member 110 relative tochassis 54.

As shown in FIG. 37, motor 1020 is coupled to rod 1012 through aselective disconnect device or coupler, shown as clutch 1024. Althoughclutch 1024 is shown positioned between motor 1020 and transmission1022, clutch 1024 may be positioned anywhere in axle actuator 56. Clutch1024 is configured to selectively couple motor 1020 to rod 1012.Accordingly, when clutch 1024 is disengaged (e.g., deactivated,decoupled, disconnected, etc.), rod 1012 is free to move independent ofoperation (e.g., rotation) of motor 1020. In the configuration shown inFIG. 37, rod 1012 may fall freely downward when clutch 1024 isdisengaged (e.g., unless brake 1026 is engaged, until hitting amechanical limit, etc.). In other embodiments, clutch 1024 is omitted,and motor 1020 is constantly coupled to rod 1012.

Referring again to FIG. 37, axle actuator 56 further includes a brake1026. Brake 1026 is configured to limit or prevent movement of at leastone of rod 1012, motor 1020, and transmission 1022 (e.g., relative tobody 1010). Although brake 1026 is shown positioned between clutch 1024and transmission 1022, brake 1026 may be positioned anywhere in axleactuator 56. Brake 1026 may impart resistive forces (e.g., friction)onto one or more components (e.g., by pressing a brake material againsta surface) while still permitting movement if the resistive forces areovercome. Additionally or alternatively, brake 1026 may prevent movementof one or more components (e.g., entirely prevent, prevent movement pasta certain point, by mechanically locking two or more components, etc.).Brake 1026 may act on any component of axle actuator 56. By way ofexample, if brake 1026 is positioned downstream of clutch 1024, brake1026 may selectively prevent or limit movement of rod 1012 even whenclutch 1024 is disengaged. In other embodiments, brake 1026 is omitted.In embodiments where transmission 1022 can be backdriven, brake 1026 mayselectively prevent movement of rod 1012, even under large externalloading.

In some embodiments, axle actuator 56 further includes a sensor 1030.Sensor 1030 may be configured to provide an indication of a currentextended length of axle actuator 56 and/or a distance between axleactuator 56 and lateral frame member 110. Sensor 1030 may include one ormore limit switches, potentiometers, encoders, ultrasonic sensors, LIDARsensors, linear variable differential transformers, or other types ofsensors. Sensor 1030 may be used for closed loop control over theposition of rod 1012.

In some embodiments, axle actuator 56 further includes a motorcontroller (e.g., a voltage or current regulator, a motor driver, etc.),shown as motor controller 1032. Motor controller 1032 may be operativelycoupled to controller 38 and batteries 64. Motor controller 1032 isconfigured to receive control signals from controller 38. Based on thereceived control signals, motor controller 1032 is configured to provideelectrical energy to motor 1020 at a desired voltage and/or current tocontrol operation of axle actuator 56. Motor controller 1032 mayadditionally provide feedback signals to controller 38 indicating anoperational state of motor 1020. By way of example, feedback signals mayindicate a voltage, current, or frequency of the electrical energysupplied to motor 1020.

Referring to FIGS. 2, 3, and 38, base assembly 12 includes four axleactuators 56: two configured to control the front lateral frame member110 and two configured to control the rear lateral frame member 110.Although FIG. 38 illustrates only one lateral frame member 110, itshould be understood that this may represent the front lateral framemember 110, the rear lateral frame member 110, or both lateral framemembers 110. Each lateral frame member 110 includes a first portion,shown as main portion 1040, and a second portion, shown as attachmentportion 1042. Main portion 1040 extends laterally below chassis 54 androtatably couples to two tractive elements 82. Attachment portion 1042is approximately laterally centered relative to main portion 1040 andextends upward from main portion 1040 to receive pin 90. Axle actuators56 are positioned on opposite sides of pin 90 (and accordinglylongitudinal axis 78) and above main portion 1044.

Referring to FIGS. 38-40, axle lock out system 1000 is shown accordingto an exemplary embodiment. In this embodiment, bodies 1010 are fixedlycoupled to chassis 54. In other embodiments, rods 1012 are coupled tochassis 54. In some embodiments, bodies 1010 or rods 1012 are coupled tolateral frame member 110. Axle actuators 56 are symmetrically locatedabout longitudinal axis 78. Actuation axes 1014 of axle actuators 56 aresubstantially vertical. Rods 1012 have ends that are substantiallycylindrical and not coupled to lateral frame member 110. When rods 1012are extended, the end of rods 1012 move toward a pair of surfaces, shownas engagement surfaces 1050, defined along a top surface of main portion1044 of lateral frame member 110. When rods 1012 engage engagementsurfaces 1050 and clutch 1024 and/or brake 1026 are activated, rods 1012limit rotation of lateral frame member 110. Specifically, one of axleactuators 56 limits rotation of lateral frame member 110 aboutlongitudinal axis 78 in a first direction, and the other axle actuator56 limits rotation of lateral frame member 110 about longitudinal axis78 in a second direction opposite the first direction. In otherembodiments, bodies 1010 are fixedly coupled to lateral frame member110, and chassis 54 defines engagement surfaces 1050.

In FIGS. 38 and 39, axle actuators 56 are shown in a fully retractedconfiguration. In this configuration, lateral frame member 110 has amaximum range of motion (i.e., an angle within which lateral framemember 110 is permitted to rotate). As rods 1012 extend, the range ofmotion is restricted. As shown in FIG. 6, when both axle actuators 56are contacting the respective engagement surfaces 1050, the range ofmotion includes only a single position, and motion of lateral framemember 110 is prevented. A portion of rod 1012, shown as engagement area1052, contacts lateral frame member 110. The end of rod 1012 iscylindrical and has a fixed orientation. Accordingly, engagement area1052 may be relatively small (e.g., a single point, smaller than the endof rod 1012) in this embodiment, unless lateral frame member 110 is nearthe central position shown in FIG. 38.

In some embodiments, such as the alternative embodiment shown in FIGS.41 and 42, an adapter, foot, or swivel, shown as foot 1054, is coupledto an end of rod 1012. The foot 1054 has a bottom surface that canrotate freely relative to the rod 1012. When foot 1054 engagesengagement surface 1050, the bottom surface of foot 1054 rotates tomaximize engagement area 1052, reducing the pressure on engagement area1052. Foot 1054 may include swivels, hinges, compliant materials (e.g.,rubber, plastic, etc.), or other mechanisms that facilitate suchrotation.

Referring to FIG. 43, the axle lock out system 1000 is shown accordingto an alternative embodiment. A first horizontal distance D₁ extendsbetween the center of one of the axle actuators 56 and longitudinal axis78. A second horizontal distance D₂ extends between the center of theother axle actuator 56 and longitudinal axis 78. In this embodiment,distance D₁ is less than distance D₂. Accordingly, the moment effect ofrod 1012 on lateral frame member 110 is different between the two axleactuators 56. In other embodiments, distance D₁ and/or distance D₂ vary.In other embodiments, one of axle actuators 56 is omitted.

Referring to FIG. 44 and FIG. 45, the axle lock out system 1000 is shownaccording to an alternative embodiment. In this embodiment, axleactuators 56 are pivotally coupled to chassis 54 and lateral framemember 110 such that axle actuators 56 rotate about longitudinal axes1060 and 1062. Specifically, body 1010 includes a protrusion, shown asclevis 1064, that defines an aperture configured to receive a pin topivotally couple clevis 1064 to chassis 54. Lateral frame member 110includes a protrusion, shown as clevis 1066, that defines an aperture.The aperture of clevis 1066 is aligned with a corresponding aperturedefined by rod 1012 such that a pin can extend between both apertures topivotally couple rod 1012 to clevis 1066. In other embodiments, bodies1010 are pivotally coupled to lateral frame member 110, and rods 1012are pivotally coupled to chassis 54.

When lateral frame member 110 rotates relative to chassis 54, axleactuators 56 extend or retract and rotate about longitudinal axes 1060and 1062. Due to the coupling of devises 1064 and 1066 to chassis 54 andlateral frame member 110, any rotation of lateral frame member 110relative to chassis 54 has a corresponding rotation and change in lengthof axle actuators 56.

Controller 38 is configured to control axle actuators 56 to control anorientation of each lateral frame member 110 relative to chassis 54.Controller may 38 provide control signals to motor controllers 1032 tocontrol the flow of electrical energy supplied to each axle actuator 56,thereby controlling the length of each axle actuator 56. Controller 38may utilize feedback from sensor 1030 and/or motor controller 1032 todetermine a current orientation of lateral frame members 110 and/or acurrent length of each axle actuator 56. Controller 38 may control eachlateral frame member 110 independently, such that the ranges of motionof each lateral frame member 110 may differ.

In some embodiments, axle lock out system 1000 is selectivelyreconfigurable between a first mode of operation (e.g., a driving mode,a movement mode, etc.) in which one or both lateral frame members 110are permitted to rotate relative to chassis 54 and a second mode ofoperation (e.g., a stationary mode, an operating mode, an extended mode,a usage mode, etc.) in which rotation of one or both lateral framemembers 110 is limited (e.g., prevented, reduced, etc.) relative tochassis 54. In some embodiments, axle lock out system 1000 is furtheroperable in a third mode of operation (e.g., a levelling mode, a leaningmode, etc.) in which lateral frame members 110 are brought into aspecific orientation relative to chassis 54. Controller 38 may changethe current mode of operation automatically and/or in response to anoperator input (e.g., through HMI 20 or HMI 21, etc.).

In some embodiments, it is desirable to operate axle lock out system1000 in the driving mode while electric boom 10 is moving betweendifferent locations. The driving mode facilitates rotation of lateralframe members 110 based on the topography, shape, or contour of theterrain or support surface that electric boom 10 is traveling across.This facilitates retaining chassis 54 in a consistent orientationrelative to the direction of gravity, smoothing the ride for the chassis54 and/or operators of electric boom 10. If both lateral frame members110 were held stationary relative to chassis 54 while driving, liftassembly 14 and platform assembly 16 could experience rapid and/or largevertical movement based on the shape of the terrain.

In the embodiment of axle lock out system 1000 shown in FIGS. 38-40,axle actuators 56 may be retained in a retracted position (e.g., apartially retracted position, a fully retracted position, etc.) in thedriving mode. In the retracted position, there may be space between oneor both of rods 1012 and engagement surfaces 1050, such that lateralframe member 110 has a first range of motion. The ends of the range ofmotion may be defined when one of engagement surfaces 1050 contacts rod1012. Alternatively, the range of motion may be defined by one or moreother physical limits of lateral frame member 110 (e.g., contact betweenlateral frame member 110 and chassis 54). Rods 1012 may be retained inthe retracted position by brake 1026, transmission 1022 (e.g., frictionwithin transmission 1022), and/or motor 1020. By way of example, tobrake the axle actuator 56 with motor 1020, the leads of motor 1020 maybe electrically coupled by a resistor such that motor 1020 resistsrotation.

In the embodiments of axle lock out system 1000 shown in FIGS. 38-40 and44 and 11, rods 1012 may be configured to travel freely with lateralframe member 110 in the driving mode. By way of example, motor 1020 mayactively control rods 1012 to travel with the lateral frame member 110.In such embodiments, motor 1020 may utilize feedback signals from sensor1030 to determine a current length of each axle actuator 56 and/or anorientation of lateral frame member 110 relative to chassis 54 andcontrol the length of axle actuators 56 to match the current orientationof lateral frame member 110 as lateral frame member 110 rotates. By wayof another example, clutches 1024 may be disengaged such that rods 1012travel freely relative to bodies 1010. Rods 1012 may rest uponengagement surfaces 1050 or devises 1066 and be supported by lateralframe member 110. Alternatively, transmission 1022 and/or motor 1020 maypermit axle actuators 56 to be backdriven as lateral frame member 110rotates.

In some embodiments, it is desirable to operate axle lock out system1000 in the operating mode while lift assembly 14 is being utilized. Theoperating mode may limit or prevent rotation of lateral frame members110 relative to chassis 54 (e.g., once a desired orientation isachieved). This facilitates retaining chassis 54 in a consistentorientation relative to the direction of gravity, regardless of theoperation of lift assembly 14. If lateral frame members 110 werepermitted to move freely relative to chassis 54 while lift assembly 14moved, the change in location of the center of gravity of lift assembly14 as the lift assembly 14 is operated (e.g., to manipulate a load suchas an implement or work platform holding an operator) could cause theorientation of chassis 54 to shift.

In the operating mode, controller 38 may control axle actuators 56 toreduce the range of motion of lateral frame member 110 relative to therange of motion in the driving mode. The range of motion of lateralframe member 110 in the operating mode may include one position (i.e.,the lateral frame member 110 is fixed) or multiple positions (i.e.,lateral frame member 110 is movable). In some embodiments, the range ofmotion in the driving mode includes the range of motion in the operatingconfiguration. In other embodiments, the range of motion of lateralframe member 110 in the operating mode extends outside of the range ofmotion of lateral frame member 110 in the driving configuration.

In the embodiment of axle lock out system 1000 shown in FIGS. 38-40,when changing to the operating mode, controller 38 may first extend rods1012 until rods 1012 reach an extended position. In some embodiments,the extended position corresponds to the position where rods 1012contact engagement surfaces 1050 of lateral frame member 110. In someembodiments, controller 38 operates motor 1020 in an extension directionand monitors the flow of electrical energy (e.g., the current, thevoltage, the frequency, etc.) to motor 1020 (e.g., using motorcontroller 1032). Controller 38 may determine that rod 1012 hascontacted engagement surface 1050 based on a variation in the flow ofelectrical energy to the corresponding motor 1020. By way of example,controller 38 may determine that rod 1012 has contacted engagementsurface 1050 when the current drawn by motor 1020 exceeds a thresholdcurrent. In other embodiments, controller 38 utilizes data from sensor1030 to determine when rod 1012 has contacted engagement surface 1050.In yet other embodiments, controller 38 controls motor 1020 to extendaxle actuators 56 for a predetermined period of time. In otherembodiments, the rods 1012 are partially extended in the extendedposition, but not so much that rods 1012 contact engagement surfaces1050. This reduces the range of motion of lateral frame member 110 butpermits some movement.

In embodiments where rods 1012 are held in the retracted position duringthe driving mode, extension actuators 56 are held at a fixed length(e.g., locked) once rods 1012 reach the extended position. Inembodiments where rods 1012 travel freely with lateral frame member 110during the driving mode, extension actuators 56 are held at a fixedlength as soon as axle lock out system 1000 enters operating mode. Byway of example, controller 38 may engage clutch 1024 and/or brake 1026to limit movement of rod 1012. By way of another example, controller 38may control motor 1020 to limit movement of rod 1012 (e.g., byelectrically coupling the leads of motor 1020 through a resistor).

In some embodiments, it is desirable to operate axle lock out system1000 in the levelling mode prior to utilizing lift assembly 14. While inlevelling mode, controller 38 may operate axle actuators 56 to reorientlateral frame members 110 such that one or more elements of electricboom 10 (e.g., chassis 54, turntable 70, etc.) are in a desiredorientation, such as substantially level (e.g., oriented substantiallyperpendicular to the direction of gravity). Once the levelling mode hassucceeded in achieving the desired orientation, axle lock out system1000 may be reconfigured into the operating mode to retain the chassis54 or other element in the desired orientation.

Control System

Referring now to FIG. 46, a control system 500 for operating electricboom 10 is shown, according to some embodiments. Control system 500includes controller 38, batteries 64 (e.g., energy storage devices), andthe various controllable elements of electric boom 10. The controllableelements of electric boom 10 include but are not limited to electricmotors 52, electric actuators 34, electric actuators 122 (e.g., steeringactuators), electric motor 26, turntable motor 44, and axle actuators56. The controllable elements of electric boom 10 can also includeelectrical lighting, sound emitting devices, etc.

Controller 38 can receive user inputs from HMI 21 and/or HMI 20 andoperate any of electric motors 52, electric actuators 34, electricactuators 122, electric motor 26, turntable motor 44, and axle actuators56 to operate electric boom 10. For example, controller 38 may receive auser input from HMI 21 or HMI 20 to elevate platform assembly 16 and mayoperate electric actuators 34 to raise or lower platform assembly 16.Likewise, controller 38 can receive a user input from HMI 21 or HMI 20to rotate turntable 70 about axis 42 relative to base 36 and can operateturntable motor 44 to rotate turntable 70 based on the user input.Controller 38 can also receive a user input from HMI 21 or HMI 20 todrive or steer electric boom 10 and can operate electric motors 52 andelectric actuator(s) 122 to drive and steer tractive elements 82.Controller 38 operates any of electric motors 52, electric actuators 34,electric actuators 122, electric motor 26, and turntable motor 44 bygenerating control signals and providing the control signals to thevarious controllable elements to perform requested operations ofelectric boom 10.

Controller 38 can receive sensor inputs from sensors 510 of electricboom 10. Sensors 510 can include proximity sensors, distance sensors,position sensors, etc. Sensors 510 can include any safety sensors thatmeasure relative distance between electric boom 10 and objects. Sensors510 can include sensors that monitor an approximate elevation of liftassembly 14. In other embodiments, sensors 510 include temperaturesensors configured to measure a temperature of batteries 64 to determinea condition of batteries 64. Controller 38 can also receive feedbackfrom any of electric motors 52, electric actuators 34, electricactuators 122, electric motor 26, turntable motor 44, and axle actuators56. In some embodiments, the feedback information includes voltage orcurrent indicative of a position (e.g., linear position, degree ofextension, angular position, etc.) of any of the controllable elements,a speed (e.g., a speed of extension, a speed of rotation, etc.) of anyof the controllable elements, etc.

For example, the feedback received from turntable motor 44 can indicatea current angular position of turntable motor 44. Controller 38 can useany of the feedback from electric motors 52, electric actuators 34,electric actuators 122, electric motor 26, turntable motor 44, and axleactuators 56 to track, monitor, etc., angular or linear position of anyof the controllable elements. In some embodiments, the feedback isreceived from a sensor associated with each of the controllableelements. For example, a position sensor can be mounted to each ofelectric actuators 34 to monitor a degree of extension or retraction ofelectric actuators 34. Controller 38 can use any of the feedbackinformation to monitor operations of electric boom 10 and to generatecontrol signals for the controllable elements.

Controller 38 can monitor whether any of the controllable elements ofelectric boom 10 are operating properly based on the feedback receivedfrom the controllable elements. For example, controller 38 may receivefeedback from any of the controllable elements (e.g., linear electricactuators of lift assembly 14, turntable motor 44, platform rotator 30,etc.) and detect failure of any of the controllable elements based onthe received feedback. In some embodiments, controller 38 notifies anoperator regarding any failed controllable elements. For example, ifcontroller 38 determines that electric actuator 34 a is not operatingproperly, controller 38 can notify the operator by providing a messageto the operator through HMI 20 and/or HMI 21.

Controller 38 can also monitor sensory information measured by sensors510 to determine if any of the controllable elements (e.g., electricactuators 122) are not operating properly. For example, if the sensoryinformation from sensors 510 indicates that a particular one of electricactuators 122 (or any of the controllable elements) has not extended anexpected amount, controller 38 can determine that the particular one ofelectric actuators 122 is not operating properly. Controller 38 canprovide a notification to the operator through HMI 20 and/or HMI 21regarding any detected failures of the controllable elements (e.g., anyof the electric motors, any of the electric actuators, etc.).

Electric boom 10 can also include one or more weight sensors configuredto measure a load applied to platform assembly 16 (or forks, liftingapparatus, buckets, etc., if electric boom 10 is a telehandler).Controller 38 can receive sensor measurements from the weight sensorsindicating the load applied to platform assembly 16. Controller 38 cangenerate control signals for any of the controllable elements (e.g.,electric actuators, electric motors, electric rotary actuators, etc.) ofelectric boom 10 based on the load applied to platform assembly 16. Forexample, if the load applied to platform assembly 16 is greater than athreshold value, controller 38 can restrict operation of lift assembly14.

Controller 38 can include a communications interface 508. Communicationsinterface 508 may facilitate communications between controller 38 andexternal systems, devices, sensors, etc. (e.g., sensors 510, HMI 20, HMI21, electric motors 52, electric actuators 34, electric actuators 122,electric motor 26, turntable motor 44, axle actuators 56, etc.) forallowing user control, monitoring, and adjustment to any of thecommunicably connected devices, sensors, systems, primary movers, etc.Communications interface 508 may also facilitate communications betweencontroller 38 and HMI 21 and/or HMI 20 (e.g., a touch screen, a displayscreen, a personal computer, etc.) or with a network.

Communications interface 508 can be or include wired or wirelesscommunications interfaces (e.g., jacks, antennas, transmitters,receivers, transceivers, wire terminals, etc.) for conducting datacommunications with sensors, devices, systems, etc., of electric boom 10or other external systems or devices (e.g., an administrative device).In various embodiments, communications via communications interface 508can be direct (e.g., local wired or wireless communications) or via acommunications network (e.g., a WAN, the Internet, a cellular network,etc.). For example, communications interface 508 can include an Ethernetcard and port for sending and receiving data via an Ethernet-basedcommunications link or network. In another example, the communicationsinterface can include a Wi-Fi transceiver for communicating via awireless communications network. In some embodiments, communicationsinterface 508 is or includes a power line communications interface. Inother embodiments, communications interface 508 is or includes anEthernet interface, a USB interface, a serial communications interface,a parallel communications interface, etc.

Controller 38 includes a processing circuit 502, a processor 504, andmemory 506. Processing circuit 502 can be communicably connected tocommunications interface 508 such that processing circuit 502 and thevarious components thereof can send and receive data via communicationsinterface 508. Processor 504 can be implemented as a general purposeprocessor, an application specific integrated circuit (ASIC), one ormore field programmable gate arrays (FPGAs), a group of processingcomponents, or other suitable electronic processing components.

Memory 506 (e.g., memory, memory unit, storage device, etc.) can includeone or more devices (e.g., RAM, ROM, Flash memory, hard disk storage,etc.) for storing data and/or computer code for completing orfacilitating the various processes, layers and modules described in thepresent application. Memory 506 can be or include volatile memory ornon-volatile memory. Memory 506 can include database components, objectcode components, script components, or any other type of informationstructure for supporting the various activities and informationstructures described in the present application. According to someembodiments, memory 506 is communicably connected to processor 504 viaprocessing circuit 502 and includes computer code for executing (e.g.,by processing circuit 502 and/or processor 504) one or more processesdescribed herein.

Electric motors 52, electric actuators 34, electric actuators 122,electric motor 26, turntable motor 44, and axle actuators 56 can receiveelectrical power from batteries 64 to perform any of their respectiveoperations. Controller 38 is configured to generate control signals forany of the controllable elements to perform their respective operationin response to receiving a user input from HMI 21 and/or HMI 20. Whenthe controllable elements receive the control signals from controller38, the controllable elements use the electrical power provided bybatteries 64 to perform their respective operations.

Controller 38 can receive a user input from HMI 21 and/or HMI 20 toraise or lower platform assembly 16 and generates control signals tocause electric actuators 34 to raise or lower platform assembly 16(e.g., to raise or lower platform assembly 16 the amount desired/inputby the user/operator). Likewise, controller 38 can receive a user inputfrom HMI 21 and/or HMI 20 to rotate turntable 70 and can generatecontrol signals for turntable motor 44 to rotate turntable 70 (e.g., torotate turntable 70 the desired amount as input by the user/operator).

Controller 38 can also generate and provide control signals to turntablebrake 620 to restrict rotation of turntable 70. Turntable brake 620receives electric power from batteries 64 and actuates between anactivated state and a deactivated state to restrict and allow rotationof ring gear 608, respectively. Controller 38 may operate turntablemotor 44 in response to receiving a user input from HMI 20 and/or HMI21. Controller 38 can receive feedback from turntable motor 44indicating an angular position of turntable motor 44 or an angular speedof turntable motor 44. In some embodiments, controller 38 receivessensory information from a turntable sensor that indicates an angularposition of turntable 70. In some embodiments, the user input receivedfrom HMI 20 and/or HMI 21 indicate a desired direction of rotation ofturntable 70. Controller 38 generates control signals and provides thecontrol signals to turntable motor 44 to operate turntable motor 44 torotate turntable 70 in the desired direction of rotation.

Controller 38 can also provide control signals to electric actuator 814to raise/lower the boom arm of lift assembly 14. Electric actuator 814is configured to use electric power from batteries 64 to operateelectric motor 844. Controller 38 can operate electric actuator 814 toextend or retract by operating electric motor 844 to operate in aforwards direction or a backwards direction. Controller 38 can operateelectric motor 844 to cause electric actuator 814 to extend in responseto receiving a user input from HMI 20 and/or HMI 21 to raise platformassembly 16. Likewise, controller 38 can operate electric motor 844 tocause electric actuator 814 to retract in response to receiving a userinput from HMI 20 and/or HMI 21 to lower platform assembly 16.

Controller 38 can also generate and provide control signals to electricmotor 26 and/or brake 766. Controller 38 can generate and provide thecontrol signals to electric motor 26 to operate electric motor 26 ineither direction, thereby pivoting platform assembly 16 about axis 28 ineither direction. Controller 38 can operate electric motor 26 inresponse to receiving user inputs from an of HMI 20 and/or HMI 21. Forexample, an operator can provide controller 38 with a user input topivot/rotate platform assembly 16 in a clockwise direction at HMI 20and/or HMI 21 (e.g., by pressing a button, pulling a lever, moving ajoy-stick, etc.). Controller 38 can operate electric motor 26 as long asthe user input from HMI 20 and/or HMI 21 is received. In someembodiments, controller 38 can receive a user input from HMI 20 and/orHMI 21 to lock platform assembly 16 at a current angular position.Controller 38 can generate and provide control signals to brake 766 tolock platform assembly 16 (e.g., to activate brake 766) at a currentangular position in response to receiving the user input from HMI 20and/or HMI 21. Likewise, controller 38 can receive a user input from HMI20 and/or HMI 21 to de-activate brake 766. Controller 38 can generateand provide control signals to brake 766 to transition brake 766 intothe de-activated state in response to receiving a user input from HMI 20and/or HMI 21.

Advantageously, electric boom 10 is a fully-electric lifting device. Allof the electric actuators and electric motors of electric boom 10 can beconfigured to perform their respective operations without requiring anyhydraulic systems, hydraulic fluids, engine systems, etc. Other booms donot use a fully-electric system and require regular maintenance toensure that the various hydraulic systems are operating properly.Electric boom 10 uses electric motors and electric actuators withoutrequiring combustible fuels (e.g., gasoline, diesel), or hydraulicfluids. Electric boom 10 is powered by batteries 64 that can bere-charged when necessary.

Configuration of Exemplary Embodiments

The present disclosure contemplates methods, systems, and programproducts on any machine-readable media for accomplishing variousoperations. The embodiments of the present disclosure may be implementedusing existing computer processors, or by a special purpose computerprocessor for an appropriate system, incorporated for this or anotherpurpose, or by a hardwired system. Embodiments within the scope of thepresent disclosure include program products comprising machine-readablemedia for carrying or having machine-executable instructions or datastructures stored thereon. Such machine-readable media can be anyavailable media that can be accessed by a general purpose or specialpurpose computer or other machine with a processor. By way of example,such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROMor other optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium which can be used to carry or storedesired program code in the form of machine-executable instructions ordata structures and which can be accessed by a general purpose orspecial purpose computer or other machine with a processor.

When information is transferred or provided over a network or anothercommunications connection (either hardwired, wireless, or a combinationof hardwired or wireless) to a machine, the machine properly views theconnection as a machine-readable medium. Thus, any such connection isproperly termed a machine-readable medium. Combinations of the above arealso included within the scope of machine-readable media.Machine-executable instructions include, for example, instructions anddata which cause a general purpose computer, special purpose computer,or special purpose processing machines to perform a certain function orgroup of functions.

As utilized herein, the terms “approximately”, “about”, “substantially”,and similar terms are intended to have a broad meaning in harmony withthe common and accepted usage by those of ordinary skill in the art towhich the subject matter of this disclosure pertains. It should beunderstood by those of skill in the art who review this disclosure thatthese terms are intended to allow a description of certain featuresdescribed and claimed without restricting the scope of these features tothe precise numerical ranges provided. Accordingly, these terms shouldbe interpreted as indicating that insubstantial or inconsequentialmodifications or alterations of the subject matter described and claimedare considered to be within the scope of the invention as recited in theappended claims.

It should be noted that the terms “exemplary” and “example” as usedherein to describe various embodiments is intended to indicate that suchembodiments are possible examples, representations, and/or illustrationsof possible embodiments (and such term is not intended to connote thatsuch embodiments are necessarily extraordinary or superlative examples).

The terms “coupled,” “connected,” and the like, as used herein, mean thejoining of two members directly or indirectly to one another. Suchjoining may be stationary (e.g., permanent, etc.) or moveable (e.g.,removable, releasable, etc.). Such joining may be achieved with the twomembers or the two members and any additional intermediate members beingintegrally formed as a single unitary body with one another or with thetwo members or the two members and any additional intermediate membersbeing attached to one another.

References herein to the positions of elements (e.g., “top,” “bottom,”“above,” “below,” “between,” etc.) are merely used to describe theorientation of various elements in the figures. It should be noted thatthe orientation of various elements may differ according to otherexemplary embodiments, and that such variations are intended to beencompassed by the present disclosure.

Also, the term “or” is used in its inclusive sense (and not in itsexclusive sense) so that when used, for example, to connect a list ofelements, the term “or” means one, some, or all of the elements in thelist. Conjunctive language such as the phrase “at least one of X, Y, andZ,” unless specifically stated otherwise, is otherwise understood withthe context as used in general to convey that an item, term, etc. may beeither X, Y, Z, X and Y, X and Z, Y and Z, or X, Y, and Z (i.e., anycombination of X, Y, and Z). Thus, such conjunctive language is notgenerally intended to imply that certain embodiments require at leastone of X, at least one of Y, and at least one of Z to each be present,unless otherwise indicated.

It is important to note that the construction and arrangement of thesystems as shown in the exemplary embodiments is illustrative only.Although only a few embodiments of the present disclosure have beendescribed in detail, those skilled in the art who review this disclosurewill readily appreciate that many modifications are possible (e.g.,variations in sizes, dimensions, structures, shapes and proportions ofthe various elements, values of parameters, mounting arrangements, useof materials, colors, orientations, etc.) without materially departingfrom the novel teachings and advantages of the subject matter recited.For example, elements shown as integrally formed may be constructed ofmultiple parts or elements. It should be noted that the elements and/orassemblies of the components described herein may be constructed fromany of a wide variety of materials that provide sufficient strength ordurability, in any of a wide variety of colors, textures, andcombinations. Accordingly, all such modifications are intended to beincluded within the scope of the present inventions. Othersubstitutions, modifications, changes, and omissions may be made in thedesign, operating conditions, and arrangement of the preferred and otherexemplary embodiments without departing from scope of the presentdisclosure or from the spirit of the appended claim.

1. A fully electric boom lift, the fully electric boom lift comprising:a base assembly comprising a base and a fully electric turntableconfigured to be driven to rotate relative to the base by an electricturntable motor; a lift assembly coupled with the fully electricturntable, wherein the lift assembly comprises a plurality ofarticulated arms configured to be driven to increase and decrease inheight by a plurality of electric linear actuators; a platform assemblydisposed at a top of the lift assembly and configured to be raised andlowered as the lift assembly increases or decreases in height; aplurality of tractive elements rotatably coupled with the base assemblyand configured to be driven by an electric wheel motor; and a controlsystem comprising a controller and an energy storage device, wherein thecontroller is configured to operate the electric turntable motor, theplurality of electric linear actuators, and the electric wheel motor,the electric turntable motor, the plurality of electric linearactuators, and the electric wheel motor configured to consume electricalpower from the energy storage device.
 2. The fully electric boom lift ofclaim 1, further comprising a steering system, wherein the steeringsystem is configured to drive the plurality of tractive elements topivot to indicate a turn of the fully electric boom lift.
 3. The fullyelectric boom lift of claim 2, wherein the steering system comprises: alinear electric steering actuator pivotally coupled to the base at afirst end, and fixedly coupled with an arcuate steering member at asecond end; and a steering knuckle rotatably coupled with one of theplurality of tractive elements and pivotally coupled with the base;wherein the arcuate steering member is pivotally coupled with thesteering knuckle and is configured to drive the steering knuckle topivot as the linear electric steering actuator extends and retracts, thearcuate steering member shaped to provide clearance for a portion of thebase as the linear electric steering actuator extends and retracts. 4.The fully electric boom lift of claim 3, wherein the controller isconfigured to operate the electric wheel motor and the linear electricsteering actuator to drive and steer the fully electric boom lift fortransportation of the fully electric boom lift.
 5. The fully electricboom lift of claim 1, wherein the fully electric turntable comprises: aring gear rotatably coupled with the base through a slewing bearing, thering gear fixedly coupled with the lift assembly; a reduction gear boxconfigured to receive output rotational kinetic energy from the electricturntable motor and output rotational kinetic energy at an output torqueto the ring gear to rotate the ring gear and the lift assembly relativeto the base, wherein the output torque is greater than a motor torque;and an electric brake configured to limit rotation of the ring gear whenactivated in response to receiving a control signal from the controller.6. The fully electric boom lift of claim 1, further comprising aplatform rotator configured to pivot the platform assembly relative tothe lift assembly, the platform rotator comprising: a barrel fixedlycoupled with the platform assembly; a structural support member fixedlycoupled with the lift assembly and rotatably coupled with the barrel; anelectric platform rotator motor configured to drive a gear box usingelectrical energy provided by the energy storage device; and an electricbrake configured to activate to prevent relative rotation between thebarrel and the structural support member, the electric brake configuredto receive electrical energy from the energy storage device and controlsignals from the controller and activate in response to receiving thecontrol signals from the controller; wherein the gear box is configuredto receive a rotational input from the electric platform rotator motorand provide a rotational output to rotate the barrel and the platformassembly relative to the structural support member that fixedly coupleswith the lift assembly.
 7. The fully electric boom lift of claim 1,wherein the lift assembly comprises: a plurality of lower memberspivotally coupled at their first ends with the fully electric turntableand pivotally coupled at their opposite ends with a first uprightmember; a plurality of upper members pivotally coupled at their firstends with the first upright member, and pivotally coupled at theiropposite ends with a second upright member; a jib arm pivotally coupledat a first end with the second upright member and coupled at an oppositeend with the platform assembly; an electric linear actuator pivotallycoupled at a first end with one of the lower members and pivotallycoupled through a trunnion mount with one of the upper members; whereinthe electric linear actuator is configured to extend or retract to drivethe upper members to pivot relative to the first upright member; whereinthe electric linear actuator is configured to receive power from theenergy storage device and control signals from the controller to operateto extend or retract to raise or lower the lift assembly.
 8. The fullyelectric boom lift of claim 7, wherein the trunnion mount comprises: acollar configured to clamp with an outer periphery of the electriclinear actuator; and a pair of protrusions that extend outwards fromopposite sides of the collar and pivotally couple with the uppermembers.
 9. The fully electric boom lift of claim 1, wherein the baseassembly further comprises: a laterally extending frame member pivotallycoupled with the base, wherein the base is configured to rotate about alongitudinal axis relative to the laterally extending frame member; aplurality of lockout electric linear actuators coupled to at least oneof the laterally extending frame member or the base and configured toconsume electrical energy supplied by the energy storage device toextend and retract; and wherein in a first mode of operation, thecontroller is configured to control the lockout electric linearactuators to permit rotation of the base relative to the laterallyextending frame member through a first range of motion, and wherein in asecond mode of operation, the controller is configured to control thelockout electric linear actuators to limit rotation of the base relativeto the laterally extending frame member to a second range of motionsmaller than the first range of motion; wherein the lockout electriclinear actuator includes a body slidably coupled to a rod and anelectric lockout motor that controls movement of the rod relative to thebody, wherein in the second mode of operation, the controller isconfigured to control the electric lockout motor to extend the electriclinear actuator until the lockout electric linear actuator engages thelaterally extending frame member.
 10. The fully electric boom lift ofclaim 9, wherein the lockout electric linear actuator includes a motorcontroller configured to monitor a flow of electrical energy supplied toan electric motor of the lockout electric linear actuator, and whereinthe controller is configured to determine that the lockout electriclinear actuator has engaged the laterally extending frame member when acurrent supplied to the electric motor exceeds a threshold current. 11.A fully electric lift device comprising: a base assembly; a liftassembly coupled with the base assembly and configured to be driven byan electric linear actuator to perform a lifting function; a platformassembly positioned at a top of the lift assembly and configured to beraised or lowered as the lift assembly performs the lifting function; aplurality of tractive elements rotatably coupled with the base assemblyand configured to be driven by an electric wheel motor to perform adriving function; an energy storage device; and a control systemcomprising a controller configured to operate the electric wheel motorand the electric linear actuator to perform the driving function and thelifting function using power drawn from the energy storage device;wherein the lift assembly and the plurality of tractive elements useonly electrical energy as a power source to perform the lifting functionand the driving function.
 12. The fully electric lift device of claim11, wherein the fully electric lift device is a fully electrictelehandler or a fully electric boom lift.
 13. The fully electric liftdevice of claim 11, further comprising a steering system, the steeringsystem configured to drive the plurality of tractive elements to pivotto indicate a turn of the fully electric lift device and comprising: alinear electric steering actuator pivotally coupled to the base at afirst end, and fixedly coupled with an arcuate steering member at asecond end; and a steering knuckle rotatably coupled with one of theplurality of tractive elements and pivotally coupled with the base;wherein the arcuate steering member is pivotally coupled with thesteering knuckle and is configured to drive the steering knuckle topivot as the linear electric steering actuator extends and retracts, thearcuate steering member shaped to provide clearance for a portion of thebase as the linear electric steering actuator extends and retracts. 14.The fully electric lift device of claim 11, wherein the base assemblycomprises a base and a fully electric turntable configured to be drivento rotate relative to the base by an electric turntable motor, the fullyelectric turntable comprising: a ring gear rotatably coupled with thebase through a slewing bearing, the ring gear fixedly coupled with thelift assembly; a reduction gear box configured to receive outputrotational kinetic energy from the electric turntable motor and outputrotational kinetic energy at an output torque to the ring gear to rotatethe ring gear and the lift assembly relative to the base, wherein theoutput torque is greater than the motor torque; and an electric brakeconfigured to limit rotation of the ring gear when activated in responseto receiving a control signal.
 15. The fully electric lift device ofclaim 11, further comprising a platform rotator configured to pivot theplatform assembly relative to the lift assembly, the platform rotatorcomprising: a barrel fixedly coupled with the platform assembly; astructural support member fixedly coupled with the lift assembly androtatably coupled with the barrel; an electric platform rotator motorconfigured to drive a gear box using electrical energy provided by theenergy storage device; an electric brake configured to activate toprevent relative rotation between the barrel and the structural supportmember, the electric brake configured to receive electrical energy fromthe energy storage device and control signals from the controller andactivate in response to receiving the control signals from thecontroller; wherein the gear box is configured to receive a rotationalinput from the motor and provide a rotational output to rotate thebarrel and the platform assembly relative to the structural supportmember that fixedly couples with the lift assembly.
 16. The fullyelectric lift device of claim 11, wherein the base assembly furthercomprises: a laterally extending frame member pivotally coupled with thebase, wherein the base is configured to rotate about a longitudinal axisrelative to the laterally extending frame member; a plurality of lockoutelectric linear actuators coupled with at least one of the laterallyextending frame member or the base and configured to consume electricalenergy supplied by the energy storage device to extend and retract; andwherein in a first mode of operation, the controller is configured tocontrol the lockout electric linear actuators to permit rotation of thebase relative to the laterally extending frame member through a firstrange of motion, and wherein in a second mode of operation, thecontroller is configured to control the lockout electric linearactuators to limit rotation of the base relative to the laterallyextending frame member to a second range of motion smaller than thefirst range of motion; wherein the lockout electric linear actuatorincludes a body slidably coupled to a rod and an electric lockout motorthat controls movement of the rod relative to the body, wherein in thesecond mode of operation, the controller is configured to control theelectric lockout motor to extend the electric linear actuator until thelockout electric linear actuator engages the laterally extending framemember.
 17. A fully electric lift device comprising: a base; a liftapparatus coupled with the base assembly and comprising: a plurality oflower members pivotally coupled at their first ends with the base andpivotally coupled at their opposite ends with a first upright member; aplurality of upper members pivotally coupled at their first ends withthe first upright member and at their opposite ends with a secondupright member; and an electric linear actuator configured to extend orretract to raise or lower the lift apparatus; an energy storage deviceconfigured to provide electrical energy to the electric linear actuator;and a controller configured to operate the electric linear actuator toraise or lower the lift apparatus.
 18. The fully electric lift device ofclaim 17, wherein the plurality of lower members, the base, and thefirst upright member form a first four-bar linkage, and the plurality ofupper members, the first upright member, and the second upright memberform a second four-bar linkage, the first upright member and the secondupright member maintaining a particular orientation as the liftapparatus is raise or lowered.
 19. The fully electric lift device ofclaim 17, wherein the electric linear actuator is pivotally coupled at alower end with one of the lower members and pivotally coupled with oneof the upper members through a trunnion mount.
 20. The fully electriclift device of claim 19, wherein the trunnion mount comprises: a collarconfigured to clamp with an outer periphery of the electric linearactuator; and a pair of protrusions that extend outwards from oppositesides of the collar and pivotally couple with the upper members.